add motion imitation

* add sim support

* close fix threading issues

.github/workflows/documentation-upload-pr.yml

@@ -31,7 +31,8 @@ jobs:
     name: Upload Preview and Comment
     if: >
       github.event.workflow_run.event == 'pull_request' &&
-      github.event.workflow_run.conclusion == 'success'
+      github.event.workflow_run.conclusion == 'success' &&
+      github.repository == 'huggingface/lerobot'
     uses: huggingface/doc-builder/.github/workflows/upload_pr_documentation.yml@main
     with:
       package_name: lerobot

.github/workflows/documentation.yml

@@ -42,7 +42,9 @@ jobs:
   # This job builds and deploys the official documentation.
   build_main_docs:
     name: Build Main Docs
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
+    if: >
+      (github.event_name == 'push' || github.event_name == 'workflow_dispatch') &&
+      github.repository == 'huggingface/lerobot'
     permissions:
       contents: read
     uses: huggingface/doc-builder/.github/workflows/build_main_documentation.yml@main
@@ -58,7 +60,7 @@ jobs:
   # The result of this job triggers the 'Upload PR Documentation' workflow.
   build_pr_docs:
     name: Build PR Docs
-    if: github.event_name == 'pull_request'
+    if: github.event_name == 'pull_request' && github.repository == 'huggingface/lerobot'
     permissions:
       contents: read
       pull-requests: write

.github/workflows/fast_tests.yml

@@ -45,7 +45,6 @@ permissions:
 env:
   UV_VERSION: "0.8.0"
   PYTHON_VERSION: "3.10"
-  DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
 
 # Ensures that only the latest commit for a PR or branch is built, canceling older runs.
 concurrency:
@@ -68,6 +67,8 @@ jobs:
           persist-credentials: false
           lfs: true
 
+      # NOTE(Steven): Mount to `/mnt` to avoid the limited storage on `/home`. Consider cleaning default SDKs or using self-hosted runners for more space.
+      # (As of 2024-06-10, the runner's `/home` has only 6.2 GB free—8% of its 72 GB total.)
       - name: Setup /mnt storage
         run: sudo chown -R $USER:$USER /mnt
 
@@ -85,14 +86,8 @@ jobs:
           version: ${{ env.UV_VERSION }}
           python-version: ${{ env.PYTHON_VERSION }}
 
-      - name: Check disk usage
-        run: df -h
-
       - name: Install lerobot with test extras
         run: uv sync --extra "test"
 
-      - name: Check disk usage
-        run: df -h
-
       - name: Run pytest
         run: uv run pytest tests -vv --maxfail=10

.github/workflows/full_tests.yml

@@ -66,6 +66,8 @@ jobs:
           lfs: true
           persist-credentials: false
 
+      # NOTE(Steven): Mount to `/mnt` to avoid the limited storage on `/home`. Consider cleaning default SDKs or using self-hosted runners for more space.
+      # (As of 2024-06-10, the runner's `/home` has only 6.2 GB free—8% of its 72 GB total.)
       - name: Setup /mnt storage
         run: sudo chown -R $USER:$USER /mnt
 
@@ -85,21 +87,12 @@ jobs:
       - name: Install lerobot with all extras
         run: uv sync --all-extras --no-extra groot # TODO(Steven): Make flash-attn optional
 
-      - name: Check disk usage
-        run: df -h
-
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv --maxfail=10
 
-      - name: Check disk usage
-        run: df -h
-
       - name: Run end-to-end tests
         run: uv run make test-end-to-end
 
-      - name: Check disk usage
-        run: df -h
-
   # This job builds a GPU enabled image for testing
   # It runs everytime a PR is approved or a push to main
   # TODO(Steven): For now we skip this job for community PRs

.github/workflows/nightly.yml

@@ -43,6 +43,7 @@ jobs:
     name: Build CPU Docker for Nightly
     runs-on:
       group: aws-general-8-plus
+    if: github.repository == 'huggingface/lerobot'
     outputs:
       image_tag: ${{ env.DOCKER_IMAGE_NAME_CPU }}
     steps:
@@ -77,6 +78,7 @@ jobs:
     name: Build GPU Docker for Nightly
     runs-on:
       group: aws-general-8-plus
+    if: github.repository == 'huggingface/lerobot'
     outputs:
       image_tag: ${{ env.DOCKER_IMAGE_NAME_GPU }}
     steps:

.github/workflows/release.yml

@@ -29,6 +29,7 @@ jobs:
   build-and-publish:
     name: Build and publish Python distributions
     runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
     outputs:
       version: ${{ steps.extract_info.outputs.tag_version }}
     permissions:

.github/workflows/stale.yml

@@ -45,6 +45,7 @@ jobs:
   stale:
     name: Close Stale Issues and PRs
     runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
     permissions:
       actions: write
       contents: write # only for delete-branch option

.github/workflows/unbound_deps_tests.yml

@@ -43,6 +43,7 @@ jobs:
   full-tests:
     name: Full Unbound Tests
     runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
     env:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
@@ -52,6 +53,9 @@ jobs:
         with:
           lfs: true
           persist-credentials: false
+
+      # NOTE(Steven): Mount to `/mnt` to avoid the limited storage on `/home`. Consider cleaning default SDKs or using self-hosted runners for more space.
+      # (As of 2024-06-10, the runner's `/home` has only 6.2 GB free—8% of its 72 GB total.)
       - name: Setup /mnt storage
         run: sudo chown -R $USER:$USER /mnt
 

docs/source/_toctree.yml

@@ -9,6 +9,8 @@
     title: Imitation Learning for Robots
   - local: cameras
     title: Cameras
+  - local: bring_your_own_policies
+    title: Bring Your Own Policies
   - local: integrate_hardware
     title: Bring Your Own Hardware
   - local: hilserl
@@ -81,11 +83,19 @@
     title: Hope Jr
   - local: reachy2
     title: Reachy 2
+  - local: unitree_g1
+    title: Unitree G1
+  - local: earthrover_mini_plus
+    title: Earth Rover Mini
   title: "Robots"
 - sections:
   - local: phone_teleop
     title: Phone
   title: "Teleoperators"
+- sections:
+  - local: torch_accelerators
+    title: PyTorch accelerators
+  title: "Supported Hardware"
 - sections:
   - local: notebooks
     title: Notebooks

docs/source/async.mdx

@@ -278,7 +278,7 @@ We found the default values of `actions_per_chunk` and `chunk_size_threshold` to
 2. **Adjust your `fps` based on inference latency.** While the server generates a new action chunk, the client is not idle and is stepping through its current action queue. If the two processes happen at fundamentally different speeds, the client might end up with an empty queue. As such, you should reduce your fps if you consistently run out of actions in queue.
 3. **Adjust `chunk_size_threshold`**.
    - Values closer to `0.0` result in almost sequential behavior. Values closer to `1.0` → send observation every step (more bandwidth, relies on good world-model).
-   - We found values around 0.5-0.6 to work well. If you want to tweak this, spin up a `RobotClient` setting the `--debug-visualize-queue-size` to `True`. This will plot the action queue size evolution at runtime, and you can use it to find the value of `chunk_size_threshold` that works best for your setup.
+   - We found values around 0.5-0.6 to work well. If you want to tweak this, spin up a `RobotClient` setting the `--debug_visualize_queue_size` to `True`. This will plot the action queue size evolution at runtime, and you can use it to find the value of `chunk_size_threshold` that works best for your setup.
 
 <p align="center">
   <img
@@ -289,7 +289,7 @@ We found the default values of `actions_per_chunk` and `chunk_size_threshold` to
 <p align="center">
   <i>
     The action queue size is plotted at runtime when the
-    `--debug-visualize-queue-size` flag is passed, for various levels of
+    `--debug_visualize_queue_size` flag is passed, for various levels of
     `chunk_size_threshold` (`g` in the SmolVLA paper).
   </i>
 </p>

docs/source/bring_your_own_policies.mdx

@@ -0,0 +1,175 @@
+# Bring Your Own Policies
+
+This tutorial explains how to integrate your own custom policy implementations into the LeRobot ecosystem, allowing you to leverage all LeRobot tools for training, evaluation, and deployment while using your own algorithms.
+
+## Step 1: Create a Policy Package
+
+Your custom policy should be organized as an installable Python package following LeRobot's plugin conventions.
+
+### Package Structure
+
+Create a package with the prefix `lerobot_policy_` (IMPORTANT!) followed by your policy name:
+
+```bash
+lerobot_policy_my_custom_policy/
+├── pyproject.toml
+└── src/
+    └── lerobot_policy_my_custom_policy/
+        ├── __init__.py
+        ├── configuration_my_custom_policy.py
+        ├── modeling_my_custom_policy.py
+        └── processor_my_custom_policy.py
+```
+
+### Package Configuration
+
+Set up your `pyproject.toml`:
+
+```toml
+[project]
+name = "lerobot_policy_my_custom_policy"
+version = "0.1.0"
+dependencies = [
+    # your policy-specific dependencies
+]
+requires-python = ">= 3.11"
+
+[build-system]
+build-backend = # your-build-backend
+requires = # your-build-system
+```
+
+## Step 2: Define the Policy Configuration
+
+Create a configuration class that inherits from `PreTrainedConfig` and registers your policy type:
+
+```python
+# configuration_my_custom_policy.py
+from dataclasses import dataclass, field
+from lerobot.configs.policies import PreTrainedConfig
+from lerobot.configs.types import NormalizationMode
+
+@PreTrainedConfig.register_subclass("my_custom_policy")
+@dataclass
+class MyCustomPolicyConfig(PreTrainedConfig):
+    """Configuration class for MyCustomPolicy.
+
+    Args:
+        n_obs_steps: Number of observation steps to use as input
+        horizon: Action prediction horizon
+        n_action_steps: Number of action steps to execute
+        hidden_dim: Hidden dimension for the policy network
+        # Add your policy-specific parameters here
+    """
+    # ...PreTrainedConfig fields...
+    pass
+
+    def __post_init__(self):
+        super().__post_init__()
+        # Add any validation logic here
+
+    def validate_features(self) -> None:
+        """Validate input/output feature compatibility."""
+        # Implement validation logic for your policy's requirements
+        pass
+```
+
+## Step 3: Implement the Policy Class
+
+Create your policy implementation by inheriting from LeRobot's base `PreTrainedPolicy` class:
+
+```python
+# modeling_my_custom_policy.py
+import torch
+import torch.nn as nn
+from typing import Dict, Any
+
+from lerobot.policies.pretrained import PreTrainedPolicy
+from .configuration_my_custom_policy import MyCustomPolicyConfig
+
+class MyCustomPolicy(PreTrainedPolicy):
+    config_class = MyCustomPolicyConfig
+    name = "my_custom_policy"
+
+    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: Dict[str, Any] = None):
+        super().__init__(config, dataset_stats)
+        ...
+```
+
+## Step 4: Add Data Processors
+
+Create processor functions:
+
+```python
+# processor_my_custom_policy.py
+from typing import Dict, Any
+import torch
+
+
+def make_my_custom_policy_pre_post_processors(
+    config,
+) -> tuple[
+    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    PolicyProcessorPipeline[PolicyAction, PolicyAction],
+]:
+    """Create preprocessing and postprocessing functions for your policy."""
+    pass  # Define your preprocessing and postprocessing logic here
+
+```
+
+## Step 5: Package Initialization
+
+Expose your classes in the package's `__init__.py`:
+
+```python
+# __init__.py
+"""Custom policy package for LeRobot."""
+
+try:
+    import lerobot  # noqa: F401
+except ImportError:
+    raise ImportError(
+        "lerobot is not installed. Please install lerobot to use this policy package."
+    )
+
+from .configuration_my_custom_policy import MyCustomPolicyConfig
+from .modeling_my_custom_policy import MyCustomPolicy
+from .processor_my_custom_policy import make_my_custom_policy_pre_post_processors
+
+__all__ = [
+    "MyCustomPolicyConfig",
+    "MyCustomPolicy",
+    "make_my_custom_policy_pre_post_processors",
+]
+```
+
+## Step 6: Installation and Usage
+
+### Install Your Policy Package
+
+```bash
+cd lerobot_policy_my_custom_policy
+pip install -e .
+
+# Or install from PyPI if published
+pip install lerobot_policy_my_custom_policy
+```
+
+### Use Your Policy
+
+Once installed, your policy automatically integrates with LeRobot's training and evaluation tools:
+
+```bash
+lerobot-train \
+    --policy.type my_custom_policy \
+    --env.type pusht \
+    --steps 200000
+```
+
+## Examples and Community Contributions
+
+Check out these example policy implementations:
+
+- [DiTFlow Policy](https://github.com/danielsanjosepro/lerobot_policy_ditflow) - Diffusion Transformer policy with flow-matching objective. Try it out in this example: [DiTFlow Example](https://github.com/danielsanjosepro/test_lerobot_policy_ditflow)
+
+Share your policy implementations with the community! 🤗

docs/source/earthrover_mini_plus.mdx

@@ -0,0 +1,206 @@
+# EarthRover Mini Plus
+
+The EarthRover Mini Plus is a fully open source mobile robot that connects through the cloud using the Frodobots SDK. This lets you control the robot and record datasets for training AI models.
+
+## What You Need
+
+### Hardware
+
+- EarthRover Mini robot
+- Computer with Python 3.10 or newer
+- Internet connection
+
+### Setting Up the Frodobots SDK
+
+The robot needs the [Frodobots SDK](https://github.com/Frodobots/earth-rovers-sdk) running on your computer. Here's how:
+
+1. Download and install the SDK:
+
+```bash
+git clone https://github.com/Frodobots/earth-rovers-sdk.git
+cd earth-rovers-sdk
+pip install -r requirements.txt
+```
+
+2. Start the SDK:
+
+```bash
+hypercorn main:app --reload
+```
+
+3. Open your web browser and go to `http://localhost:8000`, then click "Join"
+
+The SDK gives you:
+
+- Live video from front and rear cameras
+
+> [!IMPORTANT]
+> The SDK must be running before you can use the robot.
+
+## Install LeRobot
+
+Follow our [Installation Guide](./installation) to install LeRobot.
+
+In addition to the base installation, install the EarthRover Mini dependencies:
+
+```bash
+pip install -e .
+```
+
+## How It Works
+
+The robot uses the internet to communicate:
+
+- **Movement commands**: Sent through the SDK
+- **Camera video**: Received from the SDK
+- **Robot info**: Battery, location, speed from the SDK
+
+You don't need to plug anything in - it all works through the SDK.
+
+## Calibration
+
+No calibration needed! The robot is ready to use as soon as the SDK is running.
+
+## Controlling the Robot
+
+You control the robot using your keyboard - just like playing a video game with WASD keys.
+
+### Keyboard Controls
+
+| Key | Action                           |
+| --- | -------------------------------- |
+| W   | Move forward                     |
+| S   | Move backward                    |
+| A   | Turn left (with forward motion)  |
+| D   | Turn right (with forward motion) |
+| Q   | Rotate left in place             |
+| E   | Rotate right in place            |
+| X   | Stop all movement                |
+| +/= | Increase speed                   |
+| -   | Decrease speed                   |
+| ESC | Disconnect                       |
+
+### Speed Settings
+
+You can adjust how fast the robot moves:
+
+- **Forward/backward speed**: Default is full speed (1.0)
+- **Turning speed**: Default is full speed (1.0)
+- **Speed changes**: Use +/- keys to adjust by 0.1 each time
+
+### Try It Out
+
+Test driving the robot before recording data:
+
+```python
+from lerobot.robots.earthrover_mini_plus import EarthRoverMiniPlus, EarthRoverMiniPlusConfig
+from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig
+
+# Initialize robot
+robot_config = EarthRoverMiniPlusConfig()
+robot = EarthRoverMiniPlus(robot_config)
+
+# Initialize teleoperator
+teleop_config = KeyboardRoverTeleopConfig(
+    linear_speed=1.0,
+    angular_speed=1.0,
+    speed_increment=0.1
+)
+teleop = KeyboardRoverTeleop(teleop_config)
+
+# Connect
+robot.connect()
+teleop.connect()
+
+# Teleoperate (use keyboard controls)
+try:
+    while True:
+        action = teleop.get_action()
+        robot.send_action(action)
+except KeyboardInterrupt:
+    pass
+finally:
+    robot.disconnect()
+    teleop.disconnect()
+```
+
+> [!TIP]
+> If you're using a Mac, you might need to give Terminal permission to access your keyboard for teleoperation. Go to System Preferences > Security & Privacy > Input Monitoring and check the box for Terminal.
+
+## Recording Data
+
+Once you can drive the robot well, you can start recording data to train AI models. The system records:
+
+- **What you do**: How you move the robot (forward, backward, turning)
+- **What the robot sees**:
+  - Videos from both cameras
+  - Robot speed and direction
+  - Battery level and location
+  - GPS position and signal
+  - Other sensor data
+- **When it happened**: Timestamps for everything
+
+### Setting Up Hugging Face
+
+We use Hugging Face to store your data online. First, log in with your token from [Hugging Face settings](https://huggingface.co/settings/tokens):
+
+```bash
+huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
+```
+
+Store your Hugging Face username:
+
+```bash
+HF_USER=$(huggingface-cli whoami | head -n 1)
+echo $HF_USER
+```
+
+### Start Recording
+
+Use the standard recording command:
+
+```bash
+python src/lerobot/scripts/lerobot_record.py \
+    --robot.type=earthrover_mini_plus \
+    --teleop.type=keyboard_rover \
+    --dataset.repo_id=your_username/dataset_name \
+    --dataset.num_episodes=2 \
+    --dataset.fps=10 \
+    --dataset.single_task="Navigate around obstacles" \
+    --display_data=true
+```
+
+Replace `your_username/dataset_name` with your Hugging Face username and a name for your dataset.
+
+### What Gets Saved
+
+Your dataset includes:
+
+**Your Actions (2 things)**:
+
+- How much you moved forward/backward
+- How much you turned left/right
+
+**Robot Observations (12 things)**:
+
+- Front camera video
+- Rear camera video
+- Current speed
+- Battery level
+- Which way the robot is facing
+- GPS location (latitude, longitude, signal strength)
+- Network signal strength
+- Vibration level
+- Lamp status (on/off)
+
+### Where Your Data Goes
+
+On your computer: `~/.cache/huggingface/lerobot/{repo-id}`
+
+After recording, your data automatically uploads to your Hugging Face page:
+
+```bash
+echo https://huggingface.co/datasets/${HF_USER}/earthrover-navigation
+```
+
+Your dataset will be tagged with `LeRobot` for community discovery.

docs/source/il_robots.mdx

@@ -428,7 +428,7 @@ Your robot should replicate movements similar to those you recorded. For example
 
 ## Train a policy
 
-To train a policy to control your robot, use the [`lerobot-train`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
+To train a policy to control your robot, use the [`lerobot-train`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/scripts/lerobot_train.py) script. A few arguments are required. Here is an example command:
 
 ```bash
 lerobot-train \
@@ -485,7 +485,7 @@ huggingface-cli upload ${HF_USER}/act_so101_test${CKPT} \
 
 ## Run inference and evaluate your policy
 
-You can use the `record` script from [`lerobot/record.py`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/record.py) with a policy checkpoint as input, to run inference and evaluate your policy. For instance, run this command or API example to run inference and record 10 evaluation episodes:
+You can use the `record` script from [`lerobot-record`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/scripts/lerobot_record.py) with a policy checkpoint as input, to run inference and evaluate your policy. For instance, run this command or API example to run inference and record 10 evaluation episodes:
 
 <hfoptions id="eval">
 <hfoption id="Command">

docs/source/installation.mdx

@@ -90,7 +90,7 @@ If you encounter build errors, you may need to install additional dependencies:
 To install these for linux run:
 
 ```bash
-sudo apt-get install cmake build-essential python-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config
+sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev
 ```
 
 For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/installation.html#bring-your-own-ffmpeg)

docs/source/so101.mdx

@@ -30,131 +30,6 @@ The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however,
 | Wrist Roll          |   5   |  1 / 147   |
 | Gripper             |   6   |  1 / 147   |
 
-### Clean Parts
-
-Remove all support material from the 3D-printed parts. The easiest way to do this is using a small screwdriver to get underneath the support material.
-
-It is advisable to install one 3-pin cable in the motor after placing them before continuing assembly.
-
-### Joint 1
-
-- Place the first motor into the base.
-- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from the bottom.
-- Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
-- Install both motor horns, securing the top horn with a M3x6mm screw.
-- Attach the shoulder part.
-- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
-- Add the shoulder motor holder.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-### Joint 2
-
-- Slide the second motor in from the top.
-- Fasten the second motor with 4 M2x6mm screws.
-- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
-- Attach the upper arm with 4 M3x6mm screws on each side.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-### Joint 3
-
-- Insert motor 3 and fasten using 4 M2x6mm screws
-- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
-- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-### Joint 4
-
-- Slide over motor holder 4.
-- Slide in motor 4.
-- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-### Joint 5
-
-- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
-- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
-- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-### Gripper / Handle
-
-<hfoptions id="assembly">
-<hfoption id="Follower">
-
-- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
-- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
-- Attach the motor horns and again use a M3x6mm horn screw.
-- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-</hfoption>
-<hfoption id="Leader">
-
-- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
-- Attach the handle to motor 5 using 1 M2x6mm screw.
-- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
-- Attach the follower trigger with 4 M3x6mm screws.
-
-<div class="video-container">
-  <video controls width="600">
-    <source
-      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4"
-      type="video/mp4"
-    />
-  </video>
-</div>
-
-</hfoption>
-</hfoptions>
-
 ## Configure the motors
 
 ### 1. Find the USB ports associated with each arm
@@ -340,6 +215,131 @@ leader.setup_motors()
 </hfoption>
 </hfoptions>
 
+### Clean Parts
+
+Remove all support material from the 3D-printed parts. The easiest way to do this is using a small screwdriver to get underneath the support material.
+
+It is advisable to install one 3-pin cable in the motor after placing them before continuing assembly.
+
+### Joint 1
+
+- Place the first motor into the base.
+- Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from the bottom.
+- Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
+- Install both motor horns, securing the top horn with a M3x6mm screw.
+- Attach the shoulder part.
+- Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
+- Add the shoulder motor holder.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint1_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+### Joint 2
+
+- Slide the second motor in from the top.
+- Fasten the second motor with 4 M2x6mm screws.
+- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
+- Attach the upper arm with 4 M3x6mm screws on each side.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint2_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+### Joint 3
+
+- Insert motor 3 and fasten using 4 M2x6mm screws
+- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
+- Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint3_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+### Joint 4
+
+- Slide over motor holder 4.
+- Slide in motor 4.
+- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint4_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+### Joint 5
+
+- Insert motor 5 into the wrist holder and secure it with 2 M2x6mm front screws.
+- Install only one motor horn on the wrist motor and secure it with a M3x6mm horn screw.
+- Secure the wrist to motor 4 using 4 M3x6mm screws on both sides.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Joint5_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+### Gripper / Handle
+
+<hfoptions id="assembly">
+<hfoption id="Follower">
+
+- Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
+- Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
+- Attach the motor horns and again use a M3x6mm horn screw.
+- Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Gripper_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+</hfoption>
+<hfoption id="Leader">
+
+- Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
+- Attach the handle to motor 5 using 1 M2x6mm screw.
+- Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
+- Attach the follower trigger with 4 M3x6mm screws.
+
+<div class="video-container">
+  <video controls width="600">
+    <source
+      src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Leader_v2.mp4"
+      type="video/mp4"
+    />
+  </video>
+</div>
+
+</hfoption>
+</hfoptions>
+
 ## Calibrate
 
 Next, you'll need to calibrate your robot to ensure that the leader and follower arms have the same position values when they are in the same physical position.

docs/source/torch_accelerators.mdx

@@ -0,0 +1,42 @@
+# PyTorch accelerators
+
+LeRobot supports multiple hardware acceleration options for both training and inference.
+
+These options include:
+
+- **CPU**: CPU executes all computations, no dedicated accelerator is used
+- **CUDA**: acceleration with NVIDIA & AMD GPUs
+- **MPS**: acceleration with Apple Silicon GPUs
+- **XPU**: acceleration with Intel integrated and discrete GPUs
+
+## Getting Started
+
+To use particular accelerator, a suitable version of PyTorch should be installed.
+
+For CPU, CUDA, and MPS backends follow instructions provided on [PyTorch installation page](https://pytorch.org/get-started/locally).
+For XPU backend, follow instructions from [PyTorch documentation](https://docs.pytorch.org/docs/stable/notes/get_start_xpu.html).
+
+### Verifying the installation
+
+After installation, accelerator availability can be verified by running
+
+```python
+import torch
+print(torch.<backend_name>.is_available())  # <backend_name> is cuda, mps, or xpu
+```
+
+## How to run training or evaluation
+
+To select the desired accelerator, use the `--policy.device` flag when running `lerobot-train` or `lerobot-eval`. For example, to use MPS on Apple Silicon, run:
+
+```bash
+lerobot-train
+    --policy.device=mps ...
+```
+
+```bash
+lerobot-eval \
+    --policy.device=mps ...
+```
+
+However, in most cases, presence of an accelerator is detected automatically and `policy.device` parameter can be omitted from CLI commands.

docs/source/unitree_g1.mdx

@@ -0,0 +1,208 @@
+# Unitree G1 Robot Setup and Control
+
+This guide covers the complete setup process for the Unitree G1 humanoid, from initial connection to running gr00t_wbc locomotion.
+
+## About the Unitree G1
+
+We offer support for both 29 and 23 DOF G1. We introduce:
+
+- **`unitree g1` robot class, handling low level communication with the humanoid**
+- **ZMQ socket bridge** for remote communication over WiFi, allowing one to deploy policies remotely instead of over ethernet or directly on the Orin
+- **GR00T locomotion policy** for bipedal walking and balance
+- **MuJoCo simulation mode** for testing policies without the physical robot
+
+---
+
+## Part 1: Connect to Robot over Ethernet
+
+### Step 1: Configure Your Computer's Ethernet Interface
+
+Set a static IP on the same subnet as the robot:
+
+```bash
+# Replace 'enp131s0' with your ethernet interface name (check with `ip a`)
+sudo ip addr flush dev enp131s0
+sudo ip addr add 192.168.123.200/24 dev enp131s0
+sudo ip link set enp131s0 up
+```
+
+**Note**: The robot's Ethernet IP is fixed at `192.168.123.164`. Your computer must use `192.168.123.x` where x ≠ 164.
+
+### Step 2: SSH into the Robot
+
+```bash
+ssh unitree@192.168.123.164
+# Password: 123
+```
+
+You should now be connected to the robot's onboard computer.
+
+---
+
+## Part 2: Enable WiFi on the Robot
+
+Once connected via Ethernet, follow these steps to enable WiFi:
+
+### Step 1: Enable WiFi Hardware
+
+```bash
+# Unblock WiFi radio
+sudo rfkill unblock wifi
+sudo rfkill unblock all
+
+# Bring up WiFi interface
+sudo ip link set wlan0 up
+
+# Enable NetworkManager control
+sudo nmcli radio wifi on
+sudo nmcli device set wlan0 managed yes
+sudo systemctl restart NetworkManager
+```
+
+### Step 2: Enable Internet Forwarding
+
+**On your laptop:**
+
+```bash
+# Enable IP forwarding
+sudo sysctl -w net.ipv4.ip_forward=1
+
+# Set up NAT (replace wlp132s0f0 with your WiFi interface)
+sudo iptables -t nat -A POSTROUTING -o wlp132s0f0 -s 192.168.123.0/24 -j MASQUERADE
+sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
+```
+
+**On the robot:**
+
+```bash
+# Add laptop as default gateway
+sudo ip route del default 2>/dev/null || true
+sudo ip route add default via 192.168.123.200 dev eth0
+echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
+
+# Test connection
+ping -c 3 8.8.8.8
+```
+
+### Step 3: Connect to WiFi Network
+
+```bash
+# List available networks
+nmcli device wifi list
+
+# Connect to your WiFi (example)
+sudo nmcli connection add type wifi ifname wlan0 con-name "YourNetwork" ssid "YourNetwork"
+sudo nmcli connection modify "YourNetwork" wifi-sec.key-mgmt wpa-psk
+sudo nmcli connection modify "YourNetwork" wifi-sec.psk "YourPassword"
+sudo nmcli connection modify "YourNetwork" connection.autoconnect yes
+sudo nmcli connection up "YourNetwork"
+
+# Check WiFi IP address
+ip a show wlan0
+```
+
+### Step 4: SSH Over WiFi
+
+Once connected to WiFi, note the robot's IP address and disconnect the Ethernet cable. You can now SSH over WiFi:
+
+```bash
+ssh unitree@<YOUR_ROBOT_IP>
+# Password: 123
+```
+
+Replace `<YOUR_ROBOT_IP>` with your robot's actual WiFi IP address (e.g., `172.18.129.215`).
+
+---
+
+## Part 3: Robot Server Setup
+
+### Step 1: Install LeRobot on the Orin
+
+SSH into the robot and install LeRobot:
+
+```bash
+ssh unitree@<YOUR_ROBOT_IP>
+
+conda create -y -n lerobot python=3.10
+conda activate lerobot
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python  && pip install -e .
+```
+
+**Note**: The Unitree SDK requires CycloneDDS v0.10.2 to be installed. See the [Unitree SDK documentation](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
+
+### Step 2: Run the Robot Server
+
+On the robot:
+
+```bash
+python src/lerobot/robots/unitree_g1/run_g1_server.py
+```
+
+**Important**: Keep this terminal running. The server must be active for remote control.
+
+---
+
+## Part 4: Running GR00T Locomotion
+
+With the robot server running, you can now control the robot from your laptop.
+
+### Step 1: Install LeRobot on your machine
+
+```bash
+conda create -y -n lerobot python=3.10
+conda activate lerobot
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python  && pip install -e .
+```
+
+### Step 2: Update Robot IP in Config
+
+Edit the config file to match your robot's WiFi IP:
+
+```python
+# In src/lerobot/robots/unitree_g1/config_unitree_g1.py
+robot_ip: str = "<YOUR_ROBOT_IP>"  # Replace with your robot's WiFi IP.
+```
+
+**Note**: When running directly on the G1 (not remotely), set `robot_ip: str = "127.0.0.1"` instead.
+
+### Step 3: Run the Locomotion Policy
+
+```bash
+# Run GR00T locomotion controller
+python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"
+```
+
+### Step 4: Control with Remote
+
+- **Left stick**: Forward/backward and left/right movement
+- **Right stick**: Rotation
+- **R1 button**: Raise waist height
+- **R2 button**: Lower waist height
+
+Press `Ctrl+C` to stop the policy.
+
+---
+
+## Extra: Running in Simulation Mode (MuJoCo)
+
+You can now test and develop policies without a physical robot using MuJoCo. to do so set `is_simulation=True` in config.
+
+## Additional Resources
+
+- [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)
+- [GR00T Policy Repository](https://huggingface.co/nepyope/GR00T-WholeBodyControl_g1)
+- [LeRobot Documentation](https://github.com/huggingface/lerobot)
+- [Unitree_IL_Lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
+
+---
+
+_Last updated: December 2025_

docs/source/using_dataset_tools.mdx

@@ -11,13 +11,14 @@ LeRobot provides several utilities for manipulating datasets:
 3. **Merge Datasets** - Combine multiple datasets into one. The datasets must have identical features, and episodes are concatenated in the order specified in `repo_ids`
 4. **Add Features** - Add new features to a dataset
 5. **Remove Features** - Remove features from a dataset
+6. **Convert to Video** - Convert image-based datasets to video format for efficient storage
 
 The core implementation is in `lerobot.datasets.dataset_tools`.
 An example script detailing how to use the tools API is available in `examples/dataset/use_dataset_tools.py`.
 
 ## Command-Line Tool: lerobot-edit-dataset
 
-`lerobot-edit-dataset` is a command-line script for editing datasets. It can be used to delete episodes, split datasets, merge datasets, add features, and remove features.
+`lerobot-edit-dataset` is a command-line script for editing datasets. It can be used to delete episodes, split datasets, merge datasets, add features, remove features, and convert image datasets to video format.
 
 Run `lerobot-edit-dataset --help` for more information on the configuration of each operation.
 
@@ -86,9 +87,71 @@ lerobot-edit-dataset \
     --operation.feature_names "['observation.images.top']"
 ```
 
+#### Convert to Video
+
+Convert an image-based dataset to video format, creating a new LeRobotDataset where images are stored as videos. This is useful for reducing storage requirements and improving data loading performance. The new dataset will have the exact same structure as the original, but with images encoded as MP4 videos in the proper LeRobot format.
+
+```bash
+# Local-only: Save to a custom output directory (no hub push)
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir /path/to/output/pusht_video
+
+# Save with new repo_id (local storage)
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --new_repo_id lerobot/pusht_video \
+    --operation.type convert_to_video
+
+# Convert and push to Hugging Face Hub
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --new_repo_id lerobot/pusht_video \
+    --operation.type convert_to_video \
+    --push_to_hub true
+
+# Convert with custom video codec and quality settings
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir outputs/pusht_video \
+    --operation.vcodec libsvtav1 \
+    --operation.pix_fmt yuv420p \
+    --operation.g 2 \
+    --operation.crf 30
+
+# Convert only specific episodes
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir outputs/pusht_video \
+    --operation.episode_indices "[0, 1, 2, 5, 10]"
+
+# Convert with multiple workers for parallel processing
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir outputs/pusht_video \
+    --operation.num_workers 8
+```
+
+**Parameters:**
+
+- `output_dir`: Custom output directory (optional - by default uses `new_repo_id` or `{repo_id}_video`)
+- `vcodec`: Video codec to use - options: `h264`, `hevc`, `libsvtav1` (default: `libsvtav1`)
+- `pix_fmt`: Pixel format - options: `yuv420p`, `yuv444p` (default: `yuv420p`)
+- `g`: Group of pictures (GOP) size - lower values give better quality but larger files (default: 2)
+- `crf`: Constant rate factor - lower values give better quality but larger files, 0 is lossless (default: 30)
+- `fast_decode`: Fast decode tuning option (default: 0)
+- `episode_indices`: List of specific episodes to convert (default: all episodes)
+- `num_workers`: Number of parallel workers for processing (default: 4)
+
+**Note:** The resulting dataset will be a proper LeRobotDataset with all cameras encoded as videos in the `videos/` directory, with parquet files containing only metadata (no raw image data). All episodes, stats, and tasks are preserved.
+
 ### Push to Hub
 
-Add the `--push_to_hub` flag to any command to automatically upload the resulting dataset to the Hugging Face Hub:
+Add the `--push_to_hub true` flag to any command to automatically upload the resulting dataset to the Hugging Face Hub:
 
 ```bash
 lerobot-edit-dataset \
@@ -96,7 +159,7 @@ lerobot-edit-dataset \
     --new_repo_id lerobot/pusht_after_deletion \
     --operation.type delete_episodes \
     --operation.episode_indices "[0, 2, 5]" \
-    --push_to_hub
+    --push_to_hub true
 ```
 
 There is also a tool for adding features to a dataset that is not yet covered in `lerobot-edit-dataset`.

docs/source/xvla.mdx

@@ -10,20 +10,36 @@ Inspired by meta-learning and prompt learning, we ask: **"What if a VLA model co
 
 **X-VLA** is a soft-prompted, flow-matching VLA framework that treats each hardware setup as a "task" and encodes it using a small set of learnable embeddings. These **Soft Prompts** capture embodiment and domain-specific variations, guiding the Transformer from the earliest stages of multimodal fusion. With this mechanism, X-VLA can reconcile diverse robot morphologies, data types, and sensor setups within a single unified architecture.
 
-<img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture.png" width="400">
+<p align="center">
+  <img
+    src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture.png"
+    alt="XVLA Architecture"
+    style="max-width: 100%; height: auto; width: 800px;"
+  />
+</p>
 
 Built from pure Transformer encoders, X-VLA scales naturally with model size and dataset diversity. Across 6 simulation benchmarks and 3 real robots, Soft Prompts consistently outperform existing methods in handling hardware and domain differences. X-VLA-0.9B, trained on 290K episodes spanning seven robotic platforms, learns an embodiment-agnostic generalist policy in Phase I, and adapts efficiently to new robots in Phase II simply by learning a new set of prompts, while keeping the backbone frozen.
 
-<img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture2.png" width="400">
+<p align="center">
+  <img
+    src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture2.png"
+    alt="XVLA Architecture 2"
+    style="width: 60%; height: auto;"
+  />
+</p>
 
 With only 1% of parameters tuned (9M), X-VLA-0.9B achieves near-π₀ performance on LIBERO and Simpler-WidowX, despite using **300× fewer trainable parameters**. It also demonstrates strong real-world dexterity with minimal demonstrations, including folding cloths in under two minutes.
 
-<img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-fold.png" width="400">
+<p align="center">
+  <img
+    src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-fold.png"
+    alt="XVLA fold visualization"
+    style="width: 95%; max-width: 1100px; height: auto;"
+  />
+</p>
 
 X-VLA shows that generalist robot intelligence does not require increasingly complex architectures, only the right way to absorb heterogeneity. Soft Prompts offer a simple, scalable mechanism for unifying diverse robotic data, paving the way toward adaptable, cross-embodiment robot foundation models.
 
----
-
 ## Installation
 
 After installing LeRobot, install the X-VLA dependencies:
@@ -38,8 +54,6 @@ After the new release, you'll be able to do:
 pip install lerobot[xvla]
 ```
 
----
-
 ## Quick Start
 
 ### Basic Usage
@@ -66,8 +80,6 @@ lerobot-eval \
   --seed=142
 ```
 
----
-
 ## Available Checkpoints
 
 ### 🎯 Base Model
@@ -80,7 +92,7 @@ A 0.9B parameter instantiation of X-VLA, trained with a carefully designed data
 
 - **Phase II: Domain Adaptation** - Adapted to deployable policies for target domains. A new set of soft prompts is introduced and optimized to encode the hardware configuration of the novel domain, while the pretrained backbone remains frozen.
 
-### 🎮 Simulation Checkpoints
+### Simulation Checkpoints
 
 **[lerobot/xvla-libero](https://huggingface.co/lerobot/xvla-libero)**
 
@@ -104,13 +116,11 @@ Optimized for AgileX robot dexterous manipulation tasks.
 
 Adapted for Google Robot platforms.
 
----
-
 ## Training X-VLA
 
 ### Recommended Training Configuration
 
-When fine-tuning X-VLA for a new embodiment or task, we recommend the following freezing strategy:
+When fine-tuning X-VLA for a new embodiment or task, we recommend not freezing the VLM, and also setting the `policy.dtype=bfloat16` to not hit OOM errors.
 
 ```bash
 lerobot-train \
@@ -119,25 +129,26 @@ lerobot-train \
   --job_name=xvla_training \
   --policy.path="lerobot/xvla-base" \
   --policy.repo_id="HF_USER/xvla-your-robot" \
-  --steps=3000 \
+  --policy.dtype=bfloat16 \
+  --policy.action_mode=auto \
+  --steps=20000 \
   --policy.device=cuda \
-  --policy.freeze_vision_encoder=True \
-  --policy.freeze_language_encoder=True \
-  --policy.train_policy_transformer=True \
-  --policy.train_soft_prompts=True \
-  --policy.action_mode=YOUR_ACTION_MODE
+  --policy.freeze_vision_encoder=false \
+  --policy.freeze_language_encoder=false \
+  --policy.train_policy_transformer=true \
+  --policy.train_soft_prompts=true \
 ```
 
 ### Training Parameters Explained
 
-| Parameter                  | Default | Description                              |
-| -------------------------- | ------- | ---------------------------------------- |
-| `freeze_vision_encoder`    | `True`  | Freeze the VLM vision encoder weights    |
-| `freeze_language_encoder`  | `True`  | Freeze the VLM language encoder weights  |
-| `train_policy_transformer` | `True`  | Allow policy transformer layers to train |
-| `train_soft_prompts`       | `True`  | Allow soft prompts to train              |
+| Parameter                  | Default | Description                                    |
+| -------------------------- | ------- | ---------------------------------------------- |
+| `freeze_vision_encoder`    | `false` | Do not freeze the VLM vision encoder weights   |
+| `freeze_language_encoder`  | `false` | Do not freeze the VLM language encoder weights |
+| `train_policy_transformer` | `true`  | Allow policy transformer layers to train       |
+| `train_soft_prompts`       | `true`  | Allow soft prompts to train                    |
 
-**💡 Best Practice**: For Phase II adaptation to new embodiments, freeze the VLM encoders and only train the policy transformer and soft prompts. This provides excellent sample efficiency with minimal compute.
+**💡 Best Practice**: For Phase II adaptation to new embodiments, do not freeze the VLM encoders and also train the policy transformer and soft prompts.
 
 ### Example: Training on Bimanual Robot
 
@@ -147,14 +158,15 @@ lerobot-train \
   --output_dir=./outputs/xvla_bimanual \
   --job_name=xvla_so101_training \
   --policy.path="lerobot/xvla-base" \
+  --policy.dtype=bfloat16 \
   --policy.repo_id="YOUR_USERNAME/xvla-biso101" \
   --steps=3000 \
   --policy.device=cuda \
   --policy.action_mode=so101_bimanual \
-  --policy.freeze_vision_encoder=True \
-  --policy.freeze_language_encoder=True \
-  --policy.train_policy_transformer=True \
-  --policy.train_soft_prompts=True
+  --policy.freeze_vision_encoder=false \
+  --policy.freeze_language_encoder=false \
+  --policy.train_policy_transformer=true \
+  --policy.train_soft_prompts=true
 ```
 
 💡 **Best Performance:** If you have sufficient computational resources and want to achieve best X-VLA finetuning performance, you should follow the official finetuning strategy:
@@ -162,78 +174,12 @@ lerobot-train \
 **🔥 Full-finetune all components with a custom learning-rate scheme**
 
 To ensure stable optimization, the Vision-Language Model (VLM) must be trained with only 1/10 of the base learning rate, while all other components use the full LR.
-This LR ratio is crucial for achieving strong and stable finetuning performance.
-To enable this behavior, you must:
-
-1. Implement a custom optimizer and register it in your training config
-
-```
-from dataclasses import dataclass, asdict
-from lerobot.optim.optimizers import OptimizerConfig
-import torch
-
-@OptimizerConfig.register_subclass("xvla-adamw")
-@dataclass
-class XVLAAdamW(OptimizerConfig):
-    lr: float = 1e-4
-    betas: tuple[float, float] = (0.9, 0.99)
-    eps: float = 1e-8
-    weight_decay: float = 0.0
-    grad_clip_norm: float = 10.0
-
-    def build(self, params: dict) -> torch.optim.Optimizer:
-        """
-        Expect `named_parameters()` as input.
-        Apply lr = lr / 10 for all VLM-related parameters.
-        """
-        assert isinstance(params, dict), \
-            "Custom LR optimizer requires `named_parameters()` as inputs."
-        kwargs = asdict(self)
-        kwargs.pop("grad_clip_norm")
-        vlm_group, other_group = [], []
-        for name, p in params.items():
-            if not p.requires_grad:
-                continue
-            if "vlm" in name.lower():
-                vlm_group.append(p)
-            else:
-                other_group.append(p)
-
-        param_groups = [
-            {"params": vlm_group, "lr": self.lr * 0.1, "weight_decay": self.weight_decay * 0.1},
-            {"params": other_group, "lr": self.lr, "weight_decay": self.weight_decay},
-        ]
-
-        return torch.optim.AdamW(param_groups, **kwargs)
-```
-
-2. Modify X-VLA’s get_optim_params to return named parameters
-
-Replace:
-
-```
-def get_optim_params(self) -> dict:
-    """Return only trainable parameters for optimization."""
-    return filter(lambda p: p.requires_grad, self.parameters())
-```
-
-with:
-
-```
-def get_optim_params(self):
-    """Return trainable named parameters."""
-    return filter(lambda kv: kv[1].requires_grad, self.named_parameters())
-```
-
-This ensures the optimizer receives a dict of named parameters, allowing it to correctly detect VLM modules and apply the 1/10 LR rule.
-
+This LR ratio is crucial for achieving strong and stable finetuning performance. This is already done for you by default.
 ❕Note
 
 Completely matching the official reported performance may require an additional warm-up LR schedule for soft-prompts, which can bring minor improvements.
 We encourage implementing this in your customized training pipeline for optimal results.
 
----
-
 ## Core Concepts
 
 ### 1. Action Modes
@@ -242,13 +188,13 @@ X-VLA uses an **Action Registry** system to handle different action spaces and e
 
 #### Available Action Modes
 
-| Action Mode      | Action Dim            | Description                                 | Use Case                             |
-| ---------------- | --------------------- | ------------------------------------------- | ------------------------------------ |
-| `ee6d`           | 20                    | End-effector with xyz, 6D rotation, gripper | Dual-arm setups with spatial control |
-| `joint`          | 14                    | Joint-space with gripper                    | Direct joint control robots          |
-| `agibot_ee6d`    | 20                    | AGI-bot variant with MSE loss               | AGI-bot platforms                    |
-| `franka_joint7`  | 7                     | Franka Panda 7-joint control                | Franka robots without gripper        |
-| `so101_bimanual` | 20 (model), 12 (real) | SO101 bimanual robot                        | Bimanual manipulation tasks          |
+| Action Mode      | Action Dim              | Description                                 | Use Case                             |
+| ---------------- | ----------------------- | ------------------------------------------- | ------------------------------------ |
+| `ee6d`           | 20                      | End-effector with xyz, 6D rotation, gripper | Dual-arm setups with spatial control |
+| `joint`          | 14                      | Joint-space with gripper                    | Direct joint control robots          |
+| `agibot_ee6d`    | 20                      | AGI-bot variant with MSE loss               | AGI-bot platforms                    |
+| `so101_bimanual` | 20 (model), 12 (real)   | SO101 bimanual robot                        | Bimanual manipulation tasks          |
+| `auto`           | 20 (model), auto (real) | Auto-detects action dim from dataset        | **Recommended** for new robots       |
 
 #### Why Action Modes Matter
 
@@ -276,6 +222,27 @@ REAL_DIM = 12
 
 See the [action_hub.py](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/action_hub.py) implementation for details.
 
+#### Auto Action Mode (Recommended)
+
+The `auto` action mode is the easiest way to use X-VLA with any robot. It automatically detects your dataset's action dimension and handles padding/trimming:
+
+```bash
+lerobot-train \
+  --policy.path="lerobot/xvla-base" \
+  --policy.action_mode=auto \
+  --policy.max_action_dim=20 \
+  ...
+```
+
+**How it works:**
+
+- Reads `action_feature.shape[-1]` from your dataset (e.g., 7 for Franka)
+- Model outputs `max_action_dim` (default 20) for pretrained compatibility
+- Loss is computed **only on the real dimensions**: `MSE(pred[:,:,:real_dim], target[:,:,:real_dim])`
+- Postprocess trims output back to `real_dim` for robot control
+
+This eliminates the need to create custom action modes for most robots.
+
 ### 2. Domain IDs
 
 Domain IDs are learnable identifiers for different robot configurations and camera setups. They allow X-VLA to distinguish between:
@@ -297,6 +264,26 @@ domain_id = 3
 
 The domain_id is automatically added to observations by the `XVLAAddDomainIdProcessorStep` in the preprocessing pipeline.
 
+The `lerobot/xvla-base` model has been trained on the following domain IDs. It is recommended to choose one that most resembles your robot/configuration:
+
+#### Fine-tuning Datasets
+
+| Dataset Name     | Domain ID |
+| ---------------- | --------- |
+| Bridge           | 0         |
+| RT1              | 1         |
+| Calvin           | 2         |
+| libero           | 3         |
+| widowx-air       | 4         |
+| AIR-AGILEX-HQ    | 5         |
+| robotwin2_abs_ee | 6         |
+| robotwin2_clean  | 6         |
+| robocasa-human   | 7         |
+| VLABench         | 8         |
+| AGIBOT-challenge | 9         |
+| AIR-AGILEX       | 10        |
+| AIRBOT           | 18        |
+
 ### 3. Processor Steps
 
 X-VLA requires specific preprocessing and postprocessing steps for proper operation.
@@ -337,9 +324,10 @@ num_domains: int = 30          # Maximum number of domain IDs
 len_soft_prompts: int = 32     # Length of soft prompt embeddings
 
 # Action space
-action_mode: str = "ee6d"      # Action space type
+action_mode: str = "ee6d"      # Action space type (use "auto" for auto-detection)
 use_proprio: bool = True       # Use proprioceptive state
 max_state_dim: int = 32        # Maximum state dimension
+max_action_dim: int = 20       # Max action dim for padding (used by "auto" mode)
 
 # Vision
 num_image_views: int | None    # Number of camera views
@@ -349,8 +337,6 @@ resize_imgs_with_padding: tuple[int, int] | None  # Target image size with paddi
 num_denoising_steps: int = 10  # Flow matching denoising steps
 ```
 
----
-
 ## Creating Custom Action Modes
 
 If your robot has a unique action space, you can create a custom action mode:
@@ -412,8 +398,6 @@ lerobot-train \
   ...
 ```
 
----
-
 ## Advanced Topics
 
 ### Multi-Camera Support
@@ -455,7 +439,16 @@ preprocessor = PolicyProcessorPipeline(
 
 When your dataset has fewer action dimensions than the pretrained model:
 
-**Option 1**: Use padding (automatic in most action modes)
+**Option 1 (Recommended)**: Use `auto` action mode
+
+```bash
+# Automatically detects your dataset's action dimension
+# Works with any robot without custom code
+policy.action_mode=auto
+policy.max_action_dim=20  # Match pretrained model
+```
+
+**Option 2**: Use a predefined action mode with built-in padding
 
 ```python
 # Model expects 20D, dataset has 12D
@@ -476,8 +469,6 @@ class MappedActionSpace(BaseActionSpace):
         ...
 ```
 
----
-
 ## Troubleshooting
 
 ### Common Issues
@@ -510,8 +501,6 @@ class MappedActionSpace(BaseActionSpace):
   3. Reduce batch size
   4. Freeze more components
 
----
-
 ## Citation
 
 If you use X-VLA in your research, please cite:
@@ -526,17 +515,13 @@ If you use X-VLA in your research, please cite:
 }
 ```
 
----
-
 ## Additional Resources
 
-- [X-VLA Paper](https://arxiv.org) (coming soon)
+- [X-VLA Paper](https://arxiv.org/pdf/2510.10274)
 - [LeRobot Documentation](https://github.com/huggingface/lerobot)
-- [Action Registry Implementation](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/action_hub.py)
-- [Processor Implementation](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/processor_xvla.py)
-- [Model Configuration](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/configuration_xvla.py)
-
----
+- [Action Registry Implementation](https://github.com/huggingface/lerobot/src/lerobot/policies/xvla/action_hub.py)
+- [Processor Implementation](https://github.com/huggingface/lerobot/src/lerobot/policies/xvla/processor_xvla.py)
+- [Model Configuration](https://github.com/huggingface/lerobot/src/lerobot/policies/xvla/configuration_xvla.py)
 
 ## Contributing
 

examples/unitree_g1/dance.py

@@ -0,0 +1,454 @@
+#!/usr/bin/env python3
+"""
+WBT (Whole Body Tracking) Dance Policy for Unitree G1
+
+Uses ONNX model with motion data baked in.
+Pattern matches gr00t_locomotion.py - uses UnitreeG1 robot class.
+
+Usage:
+    python examples/unitree_g1/dance.py
+"""
+
+import argparse
+import json
+import logging
+import threading
+import time
+from xml.etree import ElementTree
+
+import numpy as np
+import onnx
+import onnxruntime as ort
+import pinocchio as pin
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+# =============================================================================
+# CONFIGURATION
+# =============================================================================
+
+DANCE_ONNX_PATH = "examples/unitree_g1/fastsac_g1_29dof_dancing.onnx"
+CONTROL_DT = 0.02  # 50 Hz
+NUM_DOFS = 29
+
+# Default joint positions (holosoma training defaults)
+DEFAULT_DOF_POS = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,   # Left leg (6)
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,   # Right leg (6)
+    0.0, 0.0, 0.0,                           # Waist (3)
+    0.2, 0.2, 0.0, 0.6, 0.0, 0.0, 0.0,      # Left arm (7)
+    0.2, -0.2, 0.0, 0.6, 0.0, 0.0, 0.0,     # Right arm (7)
+], dtype=np.float32)
+
+# Stiff hold KP/KD (for initialization)
+STIFF_KP = np.array([
+    150, 150, 200, 200, 40, 40,
+    150, 150, 200, 200, 40, 40,
+    200, 200, 100,
+    100, 100, 100, 100, 50, 50, 50,
+    100, 100, 100, 100, 50, 50, 50,
+], dtype=np.float32)
+
+STIFF_KD = np.array([
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+    5.0, 5.0, 5.0,
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+], dtype=np.float32)
+
+# Joints to freeze at 0 with high KP
+FROZEN_JOINTS = [13, 14, 20, 21, 27, 28]
+FROZEN_KP = 500.0
+FROZEN_KD = 5.0
+
+# =============================================================================
+# QUATERNION UTILITIES
+# =============================================================================
+
+def quat_inverse(q):
+    return np.concatenate((q[:, 0:1], -q[:, 1:]), axis=1)
+
+def quat_mul(a, b):
+    a, b = a.reshape(-1, 4), b.reshape(-1, 4)
+    w1, x1, y1, z1 = a[..., 0], a[..., 1], a[..., 2], a[..., 3]
+    w2, x2, y2, z2 = b[..., 0], b[..., 1], b[..., 2], b[..., 3]
+    ww = (z1 + x1) * (x2 + y2)
+    yy = (w1 - y1) * (w2 + z2)
+    zz = (w1 + y1) * (w2 - z2)
+    xx = ww + yy + zz
+    qq = 0.5 * (xx + (z1 - x1) * (x2 - y2))
+    w = qq - ww + (z1 - y1) * (y2 - z2)
+    x = qq - xx + (x1 + w1) * (x2 + w2)
+    y = qq - yy + (w1 - x1) * (y2 + z2)
+    z = qq - zz + (z1 + y1) * (w2 - x2)
+    return np.stack([w, x, y, z]).T.reshape(a.shape)
+
+def subtract_frame_transforms(q01, q02):
+    return quat_mul(quat_inverse(q01), q02)
+
+def matrix_from_quat(q):
+    r, i, j, k = q[..., 0], q[..., 1], q[..., 2], q[..., 3]
+    two_s = 2.0 / (q * q).sum(-1)
+    o = np.stack((
+        1 - two_s * (j*j + k*k), two_s * (i*j - k*r), two_s * (i*k + j*r),
+        two_s * (i*j + k*r), 1 - two_s * (i*i + k*k), two_s * (j*k - i*r),
+        two_s * (i*k - j*r), two_s * (j*k + i*r), 1 - two_s * (i*i + j*j),
+    ), -1)
+    return o.reshape(q.shape[:-1] + (3, 3))
+
+def xyzw_to_wxyz(xyzw):
+    return np.concatenate([xyzw[:, -1:], xyzw[:, :3]], axis=1)
+
+def quat_to_rpy(q):
+    w, x, y, z = q
+    roll = np.arctan2(2*(w*x + y*z), 1 - 2*(x**2 + y**2))
+    pitch = np.arcsin(np.clip(2*(w*y - z*x), -1, 1))
+    yaw = np.arctan2(2*(w*z + x*y), 1 - 2*(y**2 + z**2))
+    return roll, pitch, yaw
+
+def rpy_to_quat(rpy):
+    roll, pitch, yaw = rpy
+    cy, sy = np.cos(yaw*0.5), np.sin(yaw*0.5)
+    cp, sp = np.cos(pitch*0.5), np.sin(pitch*0.5)
+    cr, sr = np.cos(roll*0.5), np.sin(roll*0.5)
+    return np.array([cr*cp*cy + sr*sp*sy, sr*cp*cy - cr*sp*sy,
+                     cr*sp*cy + sr*cp*sy, cr*cp*sy - sr*sp*cy])
+
+# =============================================================================
+# PINOCCHIO FK
+# =============================================================================
+
+DOF_NAMES = (
+    "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint",
+    "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint",
+    "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint",
+    "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint",
+    "waist_yaw_joint", "waist_roll_joint", "waist_pitch_joint",
+    "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint",
+    "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint",
+    "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint",
+)
+
+
+class PinocchioFK:
+    """Pinocchio forward kinematics for torso_link orientation."""
+
+    def __init__(self, urdf_text: str):
+        root = ElementTree.fromstring(urdf_text)
+        for parent in root.iter():
+            for child in list(parent):
+                if child.tag.split("}")[-1] in {"visual", "collision"}:
+                    parent.remove(child)
+        xml_text = '<?xml version="1.0"?>\n' + ElementTree.tostring(root, encoding="unicode")
+
+        self.model = pin.buildModelFromXML(xml_text, pin.JointModelFreeFlyer())
+        self.data = self.model.createData()
+
+        pin_names = [n for n in self.model.names if n not in ["universe", "root_joint"]]
+        self.idx_map = np.array([DOF_NAMES.index(n) for n in pin_names])
+        self.ref_frame_id = self.model.getFrameId("torso_link")
+        logger.info(f"Pinocchio FK: {len(pin_names)} joints, torso_link frame={self.ref_frame_id}")
+
+    def get_torso_quat(self, pos, quat_wxyz, dof_pos):
+        """Get torso_link orientation in world frame."""
+        quat_xyzw = np.array([quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]])
+        config = np.concatenate([pos, quat_xyzw, dof_pos[self.idx_map]])
+        pin.framesForwardKinematics(self.model, self.data, config)
+        coeffs = pin.Quaternion(self.data.oMf[self.ref_frame_id].rotation).coeffs()
+        return np.array([coeffs[3], coeffs[0], coeffs[1], coeffs[2]]).reshape(1, 4)
+
+
+# =============================================================================
+# DANCE CONTROLLER
+# =============================================================================
+
+class DanceController:
+    """
+    Handles WBT dance policy for the Unitree G1 robot.
+
+    This controller manages:
+    - 29-joint observation processing
+    - Pinocchio FK for torso orientation
+    - Policy inference with motion data from ONNX
+    """
+
+    def __init__(self, policy, robot, pinocchio_fk, motor_kp, motor_kd, action_scale):
+        self.policy = policy
+        self.robot = robot
+        self.pinocchio_fk = pinocchio_fk
+        self.motor_kp = motor_kp
+        self.motor_kd = motor_kd
+        self.action_scale = action_scale
+
+        self.obs_dim = policy.get_inputs()[0].shape[1]
+        self.last_action = np.zeros((1, NUM_DOFS), dtype=np.float32)
+        self.motion_command = None
+        self.ref_quat_xyzw = None
+        self.timestep = 0
+        self.yaw_offset = 0.0
+
+        # Get initial motion data from ONNX
+        dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+        outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": dummy, "time_step": np.array([[0]], dtype=np.float32)})
+        self.motion_command = np.concatenate(outs[0:2], axis=1)
+        self.ref_quat_xyzw = outs[2]
+        self.motion_start_pose = outs[0].flatten()
+
+        # Thread management
+        self.dance_running = False
+        self.dance_thread = None
+
+        logger.info(f"DanceController: obs_dim={self.obs_dim}, action_scale={action_scale}")
+
+    def capture_yaw_offset(self):
+        """Capture robot's current yaw for relative tracking."""
+        robot_state = self.robot.lowstate_buffer.get_data()
+        if robot_state and self.pinocchio_fk:
+            quat = np.array(robot_state.imu_state.quaternion, dtype=np.float32)
+            dof = np.array([robot_state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof)
+            _, _, self.yaw_offset = quat_to_rpy(torso_q.flatten())
+            logger.info(f"Captured yaw offset: {np.degrees(self.yaw_offset):.1f}°")
+
+    def _remove_yaw_offset(self, quat_wxyz):
+        """Remove stored yaw offset from orientation."""
+        if abs(self.yaw_offset) < 1e-6:
+            return quat_wxyz
+        yaw_q = rpy_to_quat((0, 0, -self.yaw_offset)).reshape(1, 4)
+        return quat_mul(yaw_q, quat_wxyz)
+
+    def run_step(self):
+        """Single dance step - reads state, runs policy, sends commands."""
+        robot_state = self.robot.lowstate_buffer.get_data()
+        if robot_state is None:
+            return
+
+        # Read robot state
+        quat = np.array(robot_state.imu_state.quaternion, dtype=np.float32)
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+        dof_pos = np.array([robot_state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+        dof_vel = np.array([robot_state.motor_state[i].dq for i in range(NUM_DOFS)], dtype=np.float32)
+
+        # Compute motion_ref_ori_b using FK
+        if self.pinocchio_fk:
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof_pos)
+            torso_q = self._remove_yaw_offset(torso_q)
+            motion_ori = xyzw_to_wxyz(self.ref_quat_xyzw)
+            rel_quat = subtract_frame_transforms(torso_q, motion_ori)
+            ori_b = matrix_from_quat(rel_quat)[..., :2].reshape(1, -1)
+        else:
+            ori_b = np.zeros((1, 6), dtype=np.float32)
+
+        dof_rel = (dof_pos - DEFAULT_DOF_POS).reshape(1, -1)
+
+        # Build observation (alphabetical order)
+        obs_dict = {
+            "actions": self.last_action,
+            "base_ang_vel": ang_vel.reshape(1, 3),
+            "dof_pos": dof_rel,
+            "dof_vel": dof_vel.reshape(1, -1),
+            "motion_command": self.motion_command,
+            "motion_ref_ori_b": ori_b,
+        }
+        obs = np.concatenate([obs_dict[k].astype(np.float32) for k in sorted(obs_dict.keys())], axis=1)
+        obs = np.clip(obs, -100, 100)
+
+        # Run policy
+        outs = self.policy.run(["actions", "joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": obs, "time_step": np.array([[self.timestep]], dtype=np.float32)})
+
+        action = np.clip(outs[0], -100, 100)
+        self.motion_command = np.concatenate(outs[1:3], axis=1)
+        self.ref_quat_xyzw = outs[3]
+        self.last_action = action.copy()
+
+        # Compute target positions
+        target_pos = DEFAULT_DOF_POS + action.flatten() * self.action_scale
+
+        # Send commands
+        for i in range(NUM_DOFS):
+            if i in FROZEN_JOINTS:
+                self.robot.msg.motor_cmd[i].q = 0.0
+                self.robot.msg.motor_cmd[i].kp = FROZEN_KP
+                self.robot.msg.motor_cmd[i].kd = FROZEN_KD
+            else:
+                self.robot.msg.motor_cmd[i].q = float(target_pos[i])
+                self.robot.msg.motor_cmd[i].kp = self.motor_kp[i]
+                self.robot.msg.motor_cmd[i].kd = self.motor_kd[i]
+            self.robot.msg.motor_cmd[i].qd = 0
+            self.robot.msg.motor_cmd[i].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+        self.timestep += 1
+
+    def _dance_thread_loop(self):
+        """Background thread that runs the dance policy."""
+        logger.info("Dance thread started")
+        while self.dance_running:
+            start_time = time.time()
+            try:
+                self.run_step()
+            except Exception as e:
+                logger.error(f"Error in dance loop: {e}")
+                import traceback
+                traceback.print_exc()
+
+            elapsed = time.time() - start_time
+            sleep_time = max(0, CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Dance thread stopped")
+
+    def start_dance_thread(self):
+        """Start the dance control thread."""
+        if self.dance_running:
+            logger.warning("Dance thread already running")
+            return
+
+        # Reset state for fresh start
+        self.timestep = 0
+        self.last_action.fill(0)
+
+        # Re-get initial motion data
+        dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+        outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": dummy, "time_step": np.array([[0]], dtype=np.float32)})
+        self.motion_command = np.concatenate(outs[0:2], axis=1)
+        self.ref_quat_xyzw = outs[2]
+
+        self.capture_yaw_offset()
+
+        logger.info("Starting dance control thread...")
+        self.dance_running = True
+        self.dance_thread = threading.Thread(target=self._dance_thread_loop, daemon=True)
+        self.dance_thread.start()
+
+    def stop_dance_thread(self):
+        """Stop the dance control thread."""
+        if not self.dance_running:
+            return
+
+        logger.info("Stopping dance control thread...")
+        self.dance_running = False
+        if self.dance_thread:
+            self.dance_thread.join(timeout=2.0)
+        logger.info("Dance control thread stopped")
+
+    def reset_to_motion_pose(self, duration: float = 3.0):
+        """Move robot to initial motion pose over given duration."""
+        logger.info(f"Moving to dance start pose ({duration}s)...")
+
+        robot_state = self.robot.lowstate_buffer.get_data()
+        init_pos = np.array([robot_state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+        target_pos = self.motion_start_pose
+
+        num_steps = int(duration / CONTROL_DT)
+        for step in range(num_steps):
+            alpha = step / num_steps
+            interp = init_pos * (1 - alpha) + target_pos * alpha
+
+            for i in range(NUM_DOFS):
+                if i in FROZEN_JOINTS:
+                    self.robot.msg.motor_cmd[i].q = 0.0
+                    self.robot.msg.motor_cmd[i].kp = FROZEN_KP
+                    self.robot.msg.motor_cmd[i].kd = FROZEN_KD
+                else:
+                    self.robot.msg.motor_cmd[i].q = float(interp[i])
+                    self.robot.msg.motor_cmd[i].kp = STIFF_KP[i]
+                    self.robot.msg.motor_cmd[i].kd = STIFF_KD[i]
+                self.robot.msg.motor_cmd[i].qd = 0
+                self.robot.msg.motor_cmd[i].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(CONTROL_DT)
+
+        logger.info("At dance start pose!")
+
+
+# =============================================================================
+# MAIN
+# =============================================================================
+
+def load_dance_policy(onnx_path: str):
+    """Load dance policy and extract metadata."""
+    logger.info(f"Loading dance policy: {onnx_path}")
+
+    policy = ort.InferenceSession(onnx_path)
+    model = onnx.load(onnx_path)
+    metadata = {p.key: json.loads(p.value) for p in model.metadata_props}
+
+    motor_kp = np.array(metadata.get("kp", STIFF_KP), dtype=np.float32)
+    motor_kd = np.array(metadata.get("kd", STIFF_KD), dtype=np.float32)
+    action_scale = float(metadata.get("action_scale", 1.0))
+    urdf_text = metadata.get("robot_urdf", None)
+
+    logger.info(f"  Obs dim: {policy.get_inputs()[0].shape[1]}")
+    logger.info(f"  Action scale: {action_scale}")
+    logger.info(f"  KP range: [{motor_kp.min():.1f}, {motor_kp.max():.1f}]")
+
+    # Build Pinocchio FK if URDF available
+    pinocchio_fk = None
+    if urdf_text:
+        logger.info("  Building Pinocchio FK from URDF...")
+        pinocchio_fk = PinocchioFK(urdf_text)
+    else:
+        logger.warning("  No URDF in metadata - FK will not work!")
+
+    return policy, pinocchio_fk, motor_kp, motor_kd, action_scale
+
+
+def main():
+    parser = argparse.ArgumentParser(description="WBT Dance Policy for Unitree G1")
+    parser.add_argument("--onnx", type=str, default=DANCE_ONNX_PATH, help="Path to dance ONNX model")
+    parser.add_argument("--sim", action="store_true", help="Run in simulation mode")
+    args = parser.parse_args()
+
+    print("=" * 70)
+    print("💃 WBT DANCE POLICY")
+    print("=" * 70)
+
+    # Load policy
+    policy, pinocchio_fk, motor_kp, motor_kd, action_scale = load_dance_policy(args.onnx)
+
+    # Initialize robot
+    logger.info("Initializing robot...")
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+    logger.info("Robot connected!")
+
+    # Create controller
+    controller = DanceController(policy, robot, pinocchio_fk, motor_kp, motor_kd, action_scale)
+
+    try:
+        # Move to start pose
+        controller.reset_to_motion_pose(duration=3.0)
+
+        # Start dancing
+        controller.start_dance_thread()
+
+        logger.info("Dancing! Press Ctrl+C to stop.")
+        print("-" * 70)
+
+        # Log status periodically
+        while True:
+            time.sleep(2.0)
+            logger.info(f"timestep={controller.timestep}")
+
+    except KeyboardInterrupt:
+        print("\n\nStopping...")
+    finally:
+        controller.stop_dance_thread()
+        robot.disconnect()
+
+    print("\nDone!")
+
+
+if __name__ == "__main__":
+    main()

examples/unitree_g1/gr00t_locomotion.py

@@ -0,0 +1,347 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""
+Example: GR00T Locomotion with Pre-loaded Policies
+
+This example demonstrates the NEW pattern for loading GR00T policies externally
+and passing them to the robot class.
+"""
+
+import argparse
+import logging
+import threading
+import time
+from collections import deque
+
+import numpy as np
+import onnxruntime as ort
+from huggingface_hub import hf_hub_download
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logger = logging.getLogger(__name__)
+
+GROOT_DEFAULT_ANGLES = np.zeros(29, dtype=np.float32)
+GROOT_DEFAULT_ANGLES[[0, 6]] = -0.1  # hip pitch
+GROOT_DEFAULT_ANGLES[[3, 9]] = 0.3  # knee
+GROOT_DEFAULT_ANGLES[[4, 10]] = -0.2  # ankle pitch
+
+MISSING_JOINTS = []
+G1_MODEL = "g1_23"  # or "g1_29"
+if G1_MODEL == "g1_23":
+    MISSING_JOINTS = [12, 14, 20, 21, 27, 28]  # waist yaw/pitch, wrist pitch/yaw
+
+LOCOMOTION_ACTION_SCALE = 0.25
+
+LOCOMOTION_CONTROL_DT = 0.02
+
+ANG_VEL_SCALE: float = 0.25
+DOF_POS_SCALE: float = 1.0
+DOF_VEL_SCALE: float = 0.05
+CMD_SCALE: list = [2.0, 2.0, 0.25]
+
+
+DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"
+
+
+def load_groot_policies(
+    repo_id: str = DEFAULT_GROOT_REPO_ID,
+) -> tuple[ort.InferenceSession, ort.InferenceSession]:
+    """Load GR00T dual-policy system (Balance + Walk) from Hugging Face Hub.
+
+    Args:
+        repo_id: Hugging Face Hub repository ID containing the ONNX policies.
+    """
+    logger.info(f"Loading GR00T dual-policy system from Hugging Face Hub ({repo_id})...")
+
+    # Download ONNX policies from Hugging Face Hub
+    balance_path = hf_hub_download(
+        repo_id=repo_id,
+        filename="GR00T-WholeBodyControl-Balance.onnx",
+    )
+    walk_path = hf_hub_download(
+        repo_id=repo_id,
+        filename="GR00T-WholeBodyControl-Walk.onnx",
+    )
+
+    # Load ONNX policies
+    policy_balance = ort.InferenceSession(balance_path)
+    policy_walk = ort.InferenceSession(walk_path)
+
+    logger.info("GR00T policies loaded successfully")
+
+    return policy_balance, policy_walk
+
+
+class GrootLocomotionController:
+    """
+    Handles GR00T-style locomotion control for the Unitree G1 robot.
+
+    This controller manages:
+    - Dual-policy system (Balance + Walk)
+    - 29-joint observation processing
+    - 15D action output (legs + waist)
+    - Policy inference and motor command generation
+    """
+
+    def __init__(self, policy_balance, policy_walk, robot, config):
+        self.policy_balance = policy_balance
+        self.policy_walk = policy_walk
+        self.robot = robot
+        self.config = config
+
+        self.locomotion_cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)  # vx, vy, theta_dot
+
+        # GR00T-specific state
+        self.groot_qj_all = np.zeros(29, dtype=np.float32)
+        self.groot_dqj_all = np.zeros(29, dtype=np.float32)
+        self.groot_action = np.zeros(15, dtype=np.float32)
+        self.groot_obs_single = np.zeros(86, dtype=np.float32)
+        self.groot_obs_history = deque(maxlen=6)
+        self.groot_obs_stacked = np.zeros(516, dtype=np.float32)
+        self.groot_height_cmd = 0.74  # Default base height
+        self.groot_orientation_cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+
+        # input to gr00t is 6 frames (6*86D=516)
+        for _ in range(6):
+            self.groot_obs_history.append(np.zeros(86, dtype=np.float32))
+
+        # Thread management
+        self.locomotion_running = False
+        self.locomotion_thread = None
+
+        logger.info("GrootLocomotionController initialized")
+
+    def groot_locomotion_run(self):
+        # get current observation
+        robot_state = self.robot.get_observation()
+
+        if robot_state is None:
+            return
+
+        # get command from remote controller
+        if robot_state.wireless_remote is not None:
+            self.robot.remote_controller.set(robot_state.wireless_remote)
+            if self.robot.remote_controller.button[0]:  # R1 - raise waist
+                self.groot_height_cmd += 0.001
+                self.groot_height_cmd = np.clip(self.groot_height_cmd, 0.50, 1.00)
+            if self.robot.remote_controller.button[4]:  # R2 - lower waist
+                self.groot_height_cmd -= 0.001
+                self.groot_height_cmd = np.clip(self.groot_height_cmd, 0.50, 1.00)
+        else:
+            self.robot.remote_controller.lx = 0.0
+            self.robot.remote_controller.ly = 0.0
+            self.robot.remote_controller.rx = 0.0
+            self.robot.remote_controller.ry = 0.0
+
+        self.locomotion_cmd[0] = self.robot.remote_controller.ly  # forward/backward
+        self.locomotion_cmd[1] = self.robot.remote_controller.lx * -1  # left/right
+        self.locomotion_cmd[2] = self.robot.remote_controller.rx * -1  # rotation rate
+
+        for i in range(29):
+            self.groot_qj_all[i] = robot_state.motor_state[i].q
+            self.groot_dqj_all[i] = robot_state.motor_state[i].dq
+
+        # adapt observation for g1_23dof
+        for idx in MISSING_JOINTS:
+            self.groot_qj_all[idx] = 0.0
+            self.groot_dqj_all[idx] = 0.0
+
+        # Scale joint positions and velocities
+        qj_obs = self.groot_qj_all.copy()
+        dqj_obs = self.groot_dqj_all.copy()
+
+        # express imu data in gravity frame of reference
+        quat = robot_state.imu_state.quaternion
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+        gravity_orientation = self.robot.get_gravity_orientation(quat)
+
+        # scale joint positions and velocities before policy inference
+        qj_obs = (qj_obs - GROOT_DEFAULT_ANGLES) * DOF_POS_SCALE
+        dqj_obs = dqj_obs * DOF_VEL_SCALE
+        ang_vel_scaled = ang_vel * ANG_VEL_SCALE
+
+        # build single frame observation
+        self.groot_obs_single[:3] = self.locomotion_cmd * np.array(CMD_SCALE)
+        self.groot_obs_single[3] = self.groot_height_cmd
+        self.groot_obs_single[4:7] = self.groot_orientation_cmd
+        self.groot_obs_single[7:10] = ang_vel_scaled
+        self.groot_obs_single[10:13] = gravity_orientation
+        self.groot_obs_single[13:42] = qj_obs
+        self.groot_obs_single[42:71] = dqj_obs
+        self.groot_obs_single[71:86] = self.groot_action  # 15D previous actions
+
+        # Add to history and stack observations (6 frames × 86D = 516D)
+        self.groot_obs_history.append(self.groot_obs_single.copy())
+
+        # Stack all 6 frames into 516D vector
+        for i, obs_frame in enumerate(self.groot_obs_history):
+            start_idx = i * 86
+            end_idx = start_idx + 86
+            self.groot_obs_stacked[start_idx:end_idx] = obs_frame
+
+        # Run policy inference (ONNX) with 516D stacked observation
+
+        cmd_magnitude = np.linalg.norm(self.locomotion_cmd)
+
+        selected_policy = (
+            self.policy_balance if cmd_magnitude < 0.05 else self.policy_walk
+        )  # balance/standing policy for small commands, walking policy for movement commands
+
+        # run policy inference
+        ort_inputs = {selected_policy.get_inputs()[0].name: np.expand_dims(self.groot_obs_stacked, axis=0)}
+        ort_outs = selected_policy.run(None, ort_inputs)
+        self.groot_action = ort_outs[0].squeeze()
+
+        # transform action back to target joint positions
+        target_dof_pos_15 = GROOT_DEFAULT_ANGLES[:15] + self.groot_action * LOCOMOTION_ACTION_SCALE
+
+        # command motors
+        for i in range(15):
+            motor_idx = i
+            self.robot.msg.motor_cmd[motor_idx].q = target_dof_pos_15[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = self.robot.kp[motor_idx]
+            self.robot.msg.motor_cmd[motor_idx].kd = self.robot.kd[motor_idx]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # adapt action for g1_23dof
+        for joint_idx in MISSING_JOINTS:
+            self.robot.msg.motor_cmd[joint_idx].q = 0.0
+            self.robot.msg.motor_cmd[joint_idx].qd = 0
+            self.robot.msg.motor_cmd[joint_idx].kp = self.robot.kp[joint_idx]
+            self.robot.msg.motor_cmd[joint_idx].kd = self.robot.kd[joint_idx]
+            self.robot.msg.motor_cmd[joint_idx].tau = 0
+
+        # send action to robot
+        self.robot.send_action(self.robot.msg)
+
+    def _locomotion_thread_loop(self):
+        """Background thread that runs the locomotion policy at specified rate."""
+        logger.info("Locomotion thread started")
+        while self.locomotion_running:
+            start_time = time.time()
+            try:
+                self.groot_locomotion_run()
+            except Exception as e:
+                logger.error(f"Error in locomotion loop: {e}")
+
+            # Sleep to maintain control rate
+            elapsed = time.time() - start_time
+            sleep_time = max(0, LOCOMOTION_CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Locomotion thread stopped")
+
+    def start_locomotion_thread(self):
+        if self.locomotion_running:
+            logger.warning("Locomotion thread already running")
+            return
+
+        logger.info("Starting locomotion control thread...")
+        self.locomotion_running = True
+        self.locomotion_thread = threading.Thread(target=self._locomotion_thread_loop, daemon=True)
+        self.locomotion_thread.start()
+
+        logger.info("Locomotion control thread started!")
+
+    def stop_locomotion_thread(self):
+        if not self.locomotion_running:
+            return
+
+        logger.info("Stopping locomotion control thread...")
+        self.locomotion_running = False
+        if self.locomotion_thread:
+            self.locomotion_thread.join(timeout=2.0)
+        logger.info("Locomotion control thread stopped")
+
+    def reset_robot(self):
+        """Move robot legs to default standing position over 2 seconds (arms are not moved)."""
+        total_time = 3.0
+        num_step = int(total_time / self.robot.control_dt)
+
+        # Only control legs, not arms (first 12 joints)
+        default_pos = GROOT_DEFAULT_ANGLES  # First 12 values are leg angles
+        dof_size = len(default_pos)
+
+        # Get current lowstate
+        robot_state = self.robot.get_observation()
+
+        # Record the current leg positions
+        init_dof_pos = np.zeros(dof_size, dtype=np.float32)
+        for i in range(dof_size):
+            init_dof_pos[i] = robot_state.motor_state[i].q
+
+        # Move legs to default pos
+        for i in range(num_step):
+            alpha = i / num_step
+            for motor_idx in range(dof_size):
+                target_pos = default_pos[motor_idx]
+                self.robot.msg.motor_cmd[motor_idx].q = (
+                    init_dof_pos[motor_idx] * (1 - alpha) + target_pos * alpha
+                )
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = self.robot.kp[motor_idx]
+                self.robot.msg.motor_cmd[motor_idx].kd = self.robot.kd[motor_idx]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+        logger.info("Reached default position (legs only)")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="GR00T Locomotion Controller for Unitree G1")
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        default=DEFAULT_GROOT_REPO_ID,
+        help=f"Hugging Face Hub repo ID for GR00T policies (default: {DEFAULT_GROOT_REPO_ID})",
+    )
+    args = parser.parse_args()
+
+    # load policies
+    policy_balance, policy_walk = load_groot_policies(repo_id=args.repo_id)
+
+    # initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+
+    # initialize gr00t locomotion controller
+    groot_controller = GrootLocomotionController(
+        policy_balance=policy_balance,
+        policy_walk=policy_walk,
+        robot=robot,
+        config=config,
+    )
+
+    # reset legs and start locomotion thread
+    try:
+        groot_controller.reset_robot()
+        groot_controller.start_locomotion_thread()
+
+        # log status
+        logger.info("Robot initialized with GR00T locomotion policies")
+        logger.info("Locomotion controller running in background thread")
+        logger.info("Press Ctrl+C to stop")
+
+        # keep robot alive
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        print("\nStopping locomotion...")
+        groot_controller.stop_locomotion_thread()
+        print("Done!")

examples/unitree_g1/holosoma_locomotion.py

@@ -0,0 +1,479 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""
+Example: Holosoma Whole-Body Locomotion (23-DOF and 29-DOF)
+
+This example demonstrates loading Holosoma whole-body locomotion policies
+and running them on the Unitree G1 robot.
+
+Supports both:
+- 23-DOF native policies (82D observations, 23D actions)
+- 29-DOF policies (100D observations, 29D actions)
+"""
+
+import argparse
+import logging
+import threading
+import time
+
+import numpy as np
+import onnxruntime as ort
+from huggingface_hub import hf_hub_download
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+# =============================================================================
+# 29-DOF Configuration
+# =============================================================================
+# fmt: off
+HOLOSOMA_29DOF_DEFAULT_ANGLES = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # left leg
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # right leg
+    0.0, 0.0, 0.0,                          # waist (yaw, roll, pitch)
+    0.2, 0.2, 0.0, 0.6, 0.0, 0.0, 0.0,     # left arm
+    0.2, -0.2, 0.0, 0.6, 0.0, 0.0, 0.0,    # right arm
+], dtype=np.float32)
+
+HOLOSOMA_29DOF_KP = np.array([
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # left leg
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # right leg
+    40.179238471, 28.501246196, 28.501246196,  # waist
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098, 16.778327481, 16.778327481,  # left arm
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098, 16.778327481, 16.778327481,  # right arm
+], dtype=np.float32)
+
+HOLOSOMA_29DOF_KD = np.array([
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # left leg
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # right leg
+    2.557889765, 1.814445687, 1.814445687,  # waist
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843, 1.068141502, 1.068141502,  # left arm
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843, 1.068141502, 1.068141502,  # right arm
+], dtype=np.float32)
+
+# =============================================================================
+# 23-DOF Configuration (native G1-23: no waist_roll/pitch, no wrist_pitch/yaw)
+# Derived from 29-DOF Holosoma values
+# =============================================================================
+# Joint order: 6 left leg, 6 right leg, 1 waist_yaw, 5 left arm, 5 right arm
+HOLOSOMA_23DOF_DEFAULT_ANGLES = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # left leg (from 29-DOF)
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # right leg (from 29-DOF)
+    0.0,                                    # waist_yaw only (from 29-DOF)
+    0.2, 0.2, 0.0, 0.6, 0.0,               # left arm first 5 joints (from 29-DOF)
+    0.2, -0.2, 0.0, 0.6, 0.0,              # right arm first 5 joints (from 29-DOF)
+], dtype=np.float32)
+
+HOLOSOMA_23DOF_KP = np.array([
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # left leg
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # right leg
+    40.179238471,                                                                         # waist_yaw
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098,                 # left arm
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098,                 # right arm
+], dtype=np.float32)
+
+HOLOSOMA_23DOF_KD = np.array([
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # left leg
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # right leg
+    2.557889765,                                                                    # waist_yaw
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843,               # left arm
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843,               # right arm
+], dtype=np.float32)
+
+# Maps 23-DOF policy index → 29-DOF motor index
+# 23-DOF: legs(0-11), waist_yaw(12), L_arm(13-17), R_arm(18-22)
+# 29-DOF: legs(0-11), waist(12-14), L_arm(15-21), R_arm(22-28)
+DOF_23_TO_MOTOR_MAP = [
+    0, 1, 2, 3, 4, 5,       # left leg → motor 0-5
+    6, 7, 8, 9, 10, 11,     # right leg → motor 6-11
+    12,                      # waist_yaw → motor 12
+    15, 16, 17, 18, 19,     # left arm (skip wrist_pitch/yaw) → motor 15-19
+    22, 23, 24, 25, 26,     # right arm (skip wrist_pitch/yaw) → motor 22-26
+]
+# fmt: on
+
+# Control parameters
+LOCOMOTION_CONTROL_DT = 0.02  # 50Hz
+LOCOMOTION_ACTION_SCALE = 0.25
+ANG_VEL_SCALE = 0.25
+DOF_POS_SCALE = 1.0
+DOF_VEL_SCALE = 0.05
+GAIT_PERIOD = 1.0
+
+DEFAULT_HOLOSOMA_REPO_ID = "nepyope/holosoma_locomotion"
+
+
+def load_holosoma_policy(
+    repo_id: str = DEFAULT_HOLOSOMA_REPO_ID,
+    policy_name: str = "fastsac",
+    local_path: str | None = None,
+) -> tuple[ort.InferenceSession, int]:
+    """Load Holosoma policy and detect observation dimension.
+
+    Returns:
+        (policy, obs_dim) tuple where obs_dim is 82 (23-DOF) or 100 (29-DOF)
+    """
+    if local_path is not None:
+        logger.info(f"Loading policy from local path: {local_path}")
+        policy_path = local_path
+    else:
+        logger.info(f"Loading policy from Hugging Face Hub: {repo_id}")
+        policy_path = hf_hub_download(repo_id=repo_id, filename=f"{policy_name}_g1_29dof.onnx")
+
+    policy = ort.InferenceSession(policy_path)
+
+    # Detect observation dimension from model input shape
+    input_shape = policy.get_inputs()[0].shape
+    obs_dim = input_shape[1] if len(input_shape) > 1 else input_shape[0]
+
+    logger.info(f"Policy loaded successfully")
+    logger.info(f"  Input: {policy.get_inputs()[0].name}, shape: {input_shape} → obs_dim={obs_dim}")
+    logger.info(f"  Output: {policy.get_outputs()[0].name}, shape: {policy.get_outputs()[0].shape}")
+
+    return policy, obs_dim
+
+
+class HolosomaLocomotionController:
+    """
+    Handles Holosoma whole-body locomotion for Unitree G1.
+    Supports both 23-DOF (82D obs) and 29-DOF (100D obs) policies.
+    """
+
+    def __init__(self, policy, robot, config, obs_dim: int = 100):
+        self.policy = policy
+        self.robot = robot
+        self.config = config
+        self.obs_dim = obs_dim
+
+        # Detect policy type from observation dimension
+        self.is_23dof = (obs_dim == 82)
+        self.num_dof = 23 if self.is_23dof else 29
+
+        # Velocity commands
+        self.locomotion_cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+
+        # State variables sized for policy type
+        self.qj = np.zeros(self.num_dof, dtype=np.float32)
+        self.dqj = np.zeros(self.num_dof, dtype=np.float32)
+        self.locomotion_action = np.zeros(self.num_dof, dtype=np.float32)
+        self.locomotion_obs = np.zeros(obs_dim, dtype=np.float32)
+        self.last_unscaled_action = np.zeros(self.num_dof, dtype=np.float32)
+
+        # Select config based on DOF
+        if self.is_23dof:
+            self.default_angles = HOLOSOMA_23DOF_DEFAULT_ANGLES
+            self.kp = HOLOSOMA_23DOF_KP
+            self.kd = HOLOSOMA_23DOF_KD
+            self.motor_map = DOF_23_TO_MOTOR_MAP
+        else:
+            self.default_angles = HOLOSOMA_29DOF_DEFAULT_ANGLES
+            self.kp = HOLOSOMA_29DOF_KP
+            self.kd = HOLOSOMA_29DOF_KD
+            self.motor_map = list(range(29))  # Identity map for 29-DOF
+
+        # Phase state for gait
+        self.phase = np.zeros((1, 2), dtype=np.float32)
+        self.phase[0, 0] = 0.0
+        self.phase[0, 1] = np.pi
+        self.phase_dt = 2 * np.pi / (50.0 * GAIT_PERIOD)
+        self.is_standing = False
+
+        self.counter = 0
+        self.locomotion_running = False
+        self.locomotion_thread = None
+
+        logger.info(f"HolosomaLocomotionController initialized")
+        logger.info(f"  Mode: {'23-DOF (82D obs)' if self.is_23dof else '29-DOF (100D obs)'}")
+        logger.info(f"  Action dim: {self.num_dof}")
+
+    def holosoma_locomotion_run(self):
+        """Main locomotion loop - handles both 23-DOF and 29-DOF."""
+        self.counter += 1
+
+        if self.counter == 1:
+            print("\n" + "=" * 60)
+            print(f"🚀 RUNNING HOLOSOMA {self.num_dof}-DOF LOCOMOTION POLICY")
+            print(f"   {self.obs_dim}D observations → {self.num_dof}D actions")
+            print("=" * 60 + "\n")
+
+        robot_state = self.robot.get_observation()
+        if robot_state is None:
+            return
+
+        # Remote controller
+        if robot_state.wireless_remote is not None:
+            self.robot.remote_controller.set(robot_state.wireless_remote)
+        else:
+            self.robot.remote_controller.lx = 0.0
+            self.robot.remote_controller.ly = 0.0
+            self.robot.remote_controller.rx = 0.0
+            self.robot.remote_controller.ry = 0.0
+
+        # Deadzone
+        ly = self.robot.remote_controller.ly if abs(self.robot.remote_controller.ly) > 0.1 else 0.0
+        lx = self.robot.remote_controller.lx if abs(self.robot.remote_controller.lx) > 0.1 else 0.0
+        rx = self.robot.remote_controller.rx if abs(self.robot.remote_controller.rx) > 0.1 else 0.0
+
+        self.locomotion_cmd[0] = ly
+        self.locomotion_cmd[1] = -lx
+        self.locomotion_cmd[2] = -rx
+
+        # Read joint states using motor map
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            self.qj[i] = robot_state.motor_state[motor_idx].q
+            self.dqj[i] = robot_state.motor_state[motor_idx].dq
+
+        # IMU
+        quat = robot_state.imu_state.quaternion
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+        gravity_orientation = self.robot.get_gravity_orientation(quat)
+
+        # Scale observations
+        qj_obs = (self.qj - self.default_angles) * DOF_POS_SCALE
+        dqj_obs = self.dqj * DOF_VEL_SCALE
+        ang_vel_scaled = ang_vel * ANG_VEL_SCALE
+
+        # Phase update
+        cmd_norm = np.linalg.norm(self.locomotion_cmd[:2])
+        ang_cmd_norm = np.abs(self.locomotion_cmd[2])
+
+        if cmd_norm < 0.01 and ang_cmd_norm < 0.01:
+            self.phase[0, :] = np.pi * np.ones(2)
+            self.is_standing = True
+        elif self.is_standing:
+            self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+            self.is_standing = False
+        else:
+            phase_tp1 = self.phase + self.phase_dt
+            self.phase = np.fmod(phase_tp1 + np.pi, 2 * np.pi) - np.pi
+
+        sin_phase = np.sin(self.phase[0, :])
+        cos_phase = np.cos(self.phase[0, :])
+
+        # Build observation (format depends on DOF)
+        if self.is_23dof:
+            # 82D: [23 actions, 3 ang_vel, 1 cmd_yaw, 2 cmd_lin, 2 cos, 23 pos, 23 vel, 3 grav, 2 sin]
+            self.locomotion_obs[0:23] = self.last_unscaled_action
+            self.locomotion_obs[23:26] = ang_vel_scaled
+            self.locomotion_obs[26] = self.locomotion_cmd[2]
+            self.locomotion_obs[27:29] = self.locomotion_cmd[:2]
+            self.locomotion_obs[29:31] = cos_phase
+            self.locomotion_obs[31:54] = qj_obs
+            self.locomotion_obs[54:77] = dqj_obs
+            self.locomotion_obs[77:80] = gravity_orientation
+            self.locomotion_obs[80:82] = sin_phase
+        else:
+            # 100D: [29 actions, 3 ang_vel, 1 cmd_yaw, 2 cmd_lin, 2 cos, 29 pos, 29 vel, 3 grav, 2 sin]
+            self.locomotion_obs[0:29] = self.last_unscaled_action
+            self.locomotion_obs[29:32] = ang_vel_scaled
+            self.locomotion_obs[32] = self.locomotion_cmd[2]
+            self.locomotion_obs[33:35] = self.locomotion_cmd[:2]
+            self.locomotion_obs[35:37] = cos_phase
+            self.locomotion_obs[37:66] = qj_obs
+            self.locomotion_obs[66:95] = dqj_obs
+            self.locomotion_obs[95:98] = gravity_orientation
+            self.locomotion_obs[98:100] = sin_phase
+
+        # Policy inference
+        obs_input = self.locomotion_obs.reshape(1, -1).astype(np.float32)
+        ort_inputs = {self.policy.get_inputs()[0].name: obs_input}
+        ort_outs = self.policy.run(None, ort_inputs)
+
+        raw_action = ort_outs[0].squeeze()
+        clipped_action = np.clip(raw_action, -100.0, 100.0)
+
+        self.last_unscaled_action = clipped_action.copy()
+        self.locomotion_action = clipped_action * LOCOMOTION_ACTION_SCALE
+
+        # Debug
+        if self.counter <= 3:
+            print(f"\n[Holosoma Debug #{self.counter}]")
+            print(f"  Phase: ({self.phase[0, 0]:.3f}, {self.phase[0, 1]:.3f})")
+            print(f"  Cmd: ({self.locomotion_cmd[0]:.2f}, {self.locomotion_cmd[1]:.2f}, {self.locomotion_cmd[2]:.2f})")
+            print(f"  Action range: [{raw_action.min():.3f}, {raw_action.max():.3f}]")
+
+        # Compute target positions
+        target_dof_pos = self.default_angles + self.locomotion_action
+
+        # Send commands to motors via motor map
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            self.robot.msg.motor_cmd[motor_idx].q = target_dof_pos[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # For 23-DOF: zero out missing joints (waist_roll/pitch, wrist_pitch/yaw)
+        if self.is_23dof:
+            missing_motors = [13, 14, 20, 21, 27, 28]  # waist_roll, waist_pitch, wrist_pitch/yaw
+            for motor_idx in missing_motors:
+                self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = 40.0
+                self.robot.msg.motor_cmd[motor_idx].kd = 2.0
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+
+    def _locomotion_thread_loop(self):
+        logger.info("Locomotion thread started")
+        while self.locomotion_running:
+            start_time = time.time()
+            try:
+                self.holosoma_locomotion_run()
+            except Exception as e:
+                logger.error(f"Error in locomotion loop: {e}")
+                import traceback
+                traceback.print_exc()
+
+            elapsed = time.time() - start_time
+            sleep_time = max(0, LOCOMOTION_CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Locomotion thread stopped")
+
+    def start_locomotion_thread(self):
+        if self.locomotion_running:
+            logger.warning("Locomotion thread already running")
+            return
+        logger.info("Starting locomotion control thread...")
+        self.locomotion_running = True
+        self.locomotion_thread = threading.Thread(target=self._locomotion_thread_loop, daemon=True)
+        self.locomotion_thread.start()
+        logger.info("Locomotion control thread started!")
+
+    def stop_locomotion_thread(self):
+        if not self.locomotion_running:
+            return
+        logger.info("Stopping locomotion control thread...")
+        self.locomotion_running = False
+        if self.locomotion_thread:
+            self.locomotion_thread.join(timeout=2.0)
+        logger.info("Locomotion control thread stopped")
+
+    def reset_robot(self):
+        """Move joints to default position."""
+        logger.info(f"Moving {self.num_dof} joints to default position...")
+
+        total_time = 3.0
+        num_step = int(total_time / self.robot.control_dt)
+
+        robot_state = self.robot.get_observation()
+
+        # Record current positions
+        init_dof_pos = np.zeros(self.num_dof, dtype=np.float32)
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            init_dof_pos[i] = robot_state.motor_state[motor_idx].q
+
+        # Interpolate to target
+        for step in range(num_step):
+            alpha = step / num_step
+            for i in range(self.num_dof):
+                motor_idx = self.motor_map[i]
+                target = self.default_angles[i]
+                self.robot.msg.motor_cmd[motor_idx].q = init_dof_pos[i] * (1 - alpha) + target * alpha
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Zero missing joints for 23-DOF
+            if self.is_23dof:
+                for motor_idx in [13, 14, 20, 21, 27, 28]:
+                    self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                    self.robot.msg.motor_cmd[motor_idx].qd = 0
+                    self.robot.msg.motor_cmd[motor_idx].kp = 40.0
+                    self.robot.msg.motor_cmd[motor_idx].kd = 2.0
+                    self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info(f"Reached default position ({self.num_dof} joints)")
+
+        # Hold for 2 seconds
+        logger.info("Holding default position for 2 seconds...")
+        hold_steps = int(2.0 / self.robot.control_dt)
+        for _ in range(hold_steps):
+            for i in range(self.num_dof):
+                motor_idx = self.motor_map[i]
+                self.robot.msg.motor_cmd[motor_idx].q = self.default_angles[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            if self.is_23dof:
+                for motor_idx in [13, 14, 20, 21, 27, 28]:
+                    self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                    self.robot.msg.motor_cmd[motor_idx].qd = 0
+                    self.robot.msg.motor_cmd[motor_idx].kp = 40.0
+                    self.robot.msg.motor_cmd[motor_idx].kd = 2.0
+                    self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info("Ready to start locomotion!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Holosoma Locomotion Controller for Unitree G1")
+    parser.add_argument("--repo-id", type=str, default=DEFAULT_HOLOSOMA_REPO_ID)
+    parser.add_argument("--policy", type=str, default="fastsac", choices=["fastsac", "ppo"])
+    parser.add_argument("--local-path", type=str, default=None, help="Path to local ONNX file")
+    args = parser.parse_args()
+
+    # Load policy and detect dimensions
+    policy, obs_dim = load_holosoma_policy(
+        repo_id=args.repo_id,
+        policy_name=args.policy,
+        local_path=args.local_path,
+    )
+
+    # Initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+
+    # Initialize controller with detected obs_dim
+    controller = HolosomaLocomotionController(
+        policy=policy,
+        robot=robot,
+        config=config,
+        obs_dim=obs_dim,
+    )
+
+    try:
+        #controller.reset_robot()
+        controller.start_locomotion_thread()
+
+        logger.info(f"Robot initialized with Holosoma {'23-DOF' if obs_dim == 82 else '29-DOF'} policy")
+        logger.info("Use remote controller: LY=fwd/back, LX=left/right, RX=rotate")
+        logger.info("Press Ctrl+C to stop")
+
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        print("\nStopping locomotion...")
+        controller.stop_locomotion_thread()
+        print("Done!")

examples/unitree_g1/locomotion_to_dance.py

@@ -0,0 +1,607 @@
+#!/usr/bin/env python3
+"""
+Locomotion ↔ Dance Toggle for Unitree G1
+
+Press Enter to instantly switch between locomotion and dance modes.
+- Starts in LOCOMOTION mode (joystick control)
+- Press Enter → DANCE mode (resets to frame 0)
+- Press Enter → LOCOMOTION mode
+- Repeat...
+
+Auto-recovery feature:
+- If robot tilts beyond threshold during dance, auto-switches to locomotion
+- When robot recovers (tilt below recovery threshold), resumes dance from where it left off
+
+Usage:
+    python examples/unitree_g1/locomotion_to_dance.py
+    python examples/unitree_g1/locomotion_to_dance.py --tilt-threshold 25 --recovery-threshold 10
+"""
+
+import argparse
+import json
+import logging
+import select
+import sys
+import threading
+import time
+from xml.etree import ElementTree
+
+import numpy as np
+import onnx
+import onnxruntime as ort
+import pinocchio as pin
+from huggingface_hub import hf_hub_download
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+# =============================================================================
+# CONFIGURATION
+# =============================================================================
+
+NUM_DOFS = 29
+CONTROL_DT = 0.02  # 50Hz
+
+# Locomotion config
+DEFAULT_HOLOSOMA_REPO_ID = "nepyope/holosoma_locomotion"
+LOCOMOTION_ACTION_SCALE = 0.25
+ANG_VEL_SCALE = 0.25
+DOF_POS_SCALE = 1.0
+DOF_VEL_SCALE = 0.05
+GAIT_PERIOD = 1.0
+
+# Dance config
+DANCE_ONNX_PATH = "examples/unitree_g1/fastsac_g1_29dof_dancing.onnx"
+FROZEN_JOINTS = [13, 14, 20, 21, 27, 28]
+FROZEN_KP = 500.0
+FROZEN_KD = 5.0
+
+# fmt: off
+# 29-DOF defaults (holosoma training)
+DEFAULT_29DOF_ANGLES = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # left leg
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # right leg
+    0.0, 0.0, 0.0,                          # waist
+    0.2, 0.2, 0.0, 0.6, 0.0, 0.0, 0.0,     # left arm
+    0.2, -0.2, 0.0, 0.6, 0.0, 0.0, 0.0,    # right arm
+], dtype=np.float32)
+
+DEFAULT_29DOF_KP = np.array([
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179, 28.501, 28.501,
+    14.251, 14.251, 14.251, 14.251, 14.251, 16.778, 16.778,
+    14.251, 14.251, 14.251, 14.251, 14.251, 16.778, 16.778,
+], dtype=np.float32)
+
+DEFAULT_29DOF_KD = np.array([
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558, 1.814, 1.814,
+    0.907, 0.907, 0.907, 0.907, 0.907, 1.068, 1.068,
+    0.907, 0.907, 0.907, 0.907, 0.907, 1.068, 1.068,
+], dtype=np.float32)
+
+# 23-DOF config (no waist_roll/pitch, no wrist_pitch/yaw)
+DEFAULT_23DOF_ANGLES = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # left leg
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # right leg
+    0.0,                                    # waist_yaw only
+    0.2, 0.2, 0.0, 0.6, 0.0,               # left arm (5 joints)
+    0.2, -0.2, 0.0, 0.6, 0.0,              # right arm (5 joints)
+], dtype=np.float32)
+
+DEFAULT_23DOF_KP = np.array([
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179,
+    14.251, 14.251, 14.251, 14.251, 14.251,
+    14.251, 14.251, 14.251, 14.251, 14.251,
+], dtype=np.float32)
+
+DEFAULT_23DOF_KD = np.array([
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558,
+    0.907, 0.907, 0.907, 0.907, 0.907,
+    0.907, 0.907, 0.907, 0.907, 0.907,
+], dtype=np.float32)
+
+# 23-DOF policy index → 29-DOF motor index
+DOF_23_TO_MOTOR = [
+    0, 1, 2, 3, 4, 5,       # left leg
+    6, 7, 8, 9, 10, 11,     # right leg
+    12,                      # waist_yaw
+    15, 16, 17, 18, 19,     # left arm (skip wrist_pitch/yaw)
+    22, 23, 24, 25, 26,     # right arm (skip wrist_pitch/yaw)
+]
+MISSING_23DOF_MOTORS = [13, 14, 20, 21, 27, 28]
+# fmt: on
+
+# =============================================================================
+# QUATERNION UTILITIES
+# =============================================================================
+
+def quat_inverse(q):
+    return np.concatenate((q[:, 0:1], -q[:, 1:]), axis=1)
+
+def quat_mul(a, b):
+    a, b = a.reshape(-1, 4), b.reshape(-1, 4)
+    w1, x1, y1, z1 = a[..., 0], a[..., 1], a[..., 2], a[..., 3]
+    w2, x2, y2, z2 = b[..., 0], b[..., 1], b[..., 2], b[..., 3]
+    ww = (z1 + x1) * (x2 + y2)
+    yy = (w1 - y1) * (w2 + z2)
+    zz = (w1 + y1) * (w2 - z2)
+    xx = ww + yy + zz
+    qq = 0.5 * (xx + (z1 - x1) * (x2 - y2))
+    w = qq - ww + (z1 - y1) * (y2 - z2)
+    x = qq - xx + (x1 + w1) * (x2 + w2)
+    y = qq - yy + (w1 - x1) * (y2 + z2)
+    z = qq - zz + (z1 + y1) * (w2 - x2)
+    return np.stack([w, x, y, z]).T.reshape(a.shape)
+
+def subtract_frame_transforms(q01, q02):
+    return quat_mul(quat_inverse(q01), q02)
+
+def matrix_from_quat(q):
+    r, i, j, k = q[..., 0], q[..., 1], q[..., 2], q[..., 3]
+    two_s = 2.0 / (q * q).sum(-1)
+    o = np.stack((
+        1 - two_s * (j*j + k*k), two_s * (i*j - k*r), two_s * (i*k + j*r),
+        two_s * (i*j + k*r), 1 - two_s * (i*i + k*k), two_s * (j*k - i*r),
+        two_s * (i*k - j*r), two_s * (j*k + i*r), 1 - two_s * (i*i + j*j),
+    ), -1)
+    return o.reshape(q.shape[:-1] + (3, 3))
+
+def xyzw_to_wxyz(xyzw):
+    return np.concatenate([xyzw[:, -1:], xyzw[:, :3]], axis=1)
+
+def quat_to_rpy(q):
+    w, x, y, z = q
+    roll = np.arctan2(2*(w*x + y*z), 1 - 2*(x**2 + y**2))
+    pitch = np.arcsin(np.clip(2*(w*y - z*x), -1, 1))
+    yaw = np.arctan2(2*(w*z + x*y), 1 - 2*(y**2 + z**2))
+    return roll, pitch, yaw
+
+def rpy_to_quat(rpy):
+    roll, pitch, yaw = rpy
+    cy, sy = np.cos(yaw*0.5), np.sin(yaw*0.5)
+    cp, sp = np.cos(pitch*0.5), np.sin(pitch*0.5)
+    cr, sr = np.cos(roll*0.5), np.sin(roll*0.5)
+    return np.array([cr*cp*cy + sr*sp*sy, sr*cp*cy - cr*sp*sy,
+                     cr*sp*cy + sr*cp*sy, cr*cp*sy - sr*sp*cy])
+
+# =============================================================================
+# PINOCCHIO FK
+# =============================================================================
+
+DOF_NAMES = (
+    "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint",
+    "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint",
+    "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint",
+    "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint",
+    "waist_yaw_joint", "waist_roll_joint", "waist_pitch_joint",
+    "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint",
+    "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint",
+    "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint",
+)
+
+
+class PinocchioFK:
+    def __init__(self, urdf_text: str):
+        root = ElementTree.fromstring(urdf_text)
+        for parent in root.iter():
+            for child in list(parent):
+                if child.tag.split("}")[-1] in {"visual", "collision"}:
+                    parent.remove(child)
+        xml_text = '<?xml version="1.0"?>\n' + ElementTree.tostring(root, encoding="unicode")
+        self.model = pin.buildModelFromXML(xml_text, pin.JointModelFreeFlyer())
+        self.data = self.model.createData()
+        pin_names = [n for n in self.model.names if n not in ["universe", "root_joint"]]
+        self.idx_map = np.array([DOF_NAMES.index(n) for n in pin_names])
+        self.ref_frame_id = self.model.getFrameId("torso_link")
+
+    def get_torso_quat(self, pos, quat_wxyz, dof_pos):
+        quat_xyzw = np.array([quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]])
+        config = np.concatenate([pos, quat_xyzw, dof_pos[self.idx_map]])
+        pin.framesForwardKinematics(self.model, self.data, config)
+        coeffs = pin.Quaternion(self.data.oMf[self.ref_frame_id].rotation).coeffs()
+        return np.array([coeffs[3], coeffs[0], coeffs[1], coeffs[2]]).reshape(1, 4)
+
+    def get_torso_tilt(self, pos, quat_wxyz, dof_pos):
+        """Get torso tilt angle from upright (degrees). Uses roll and pitch."""
+        torso_q = self.get_torso_quat(pos, quat_wxyz, dof_pos)
+        roll, pitch, _ = quat_to_rpy(torso_q.flatten())
+        # Tilt is the angle from vertical - combine roll and pitch
+        tilt_rad = np.sqrt(roll**2 + pitch**2)
+        return np.degrees(tilt_rad), np.degrees(roll), np.degrees(pitch)
+
+
+# =============================================================================
+# LOCOMOTION CONTROLLER
+# =============================================================================
+
+class LocomotionController:
+    """Holosoma whole-body locomotion (23-DOF or 29-DOF)."""
+
+    def __init__(self, policy, robot, obs_dim: int):
+        self.policy = policy
+        self.robot = robot
+        self.obs_dim = obs_dim
+
+        # Detect DOF mode
+        self.is_23dof = (obs_dim == 82)
+        self.num_dof = 23 if self.is_23dof else 29
+
+        if self.is_23dof:
+            self.default_angles = DEFAULT_23DOF_ANGLES
+            self.kp = DEFAULT_23DOF_KP
+            self.kd = DEFAULT_23DOF_KD
+            self.motor_map = DOF_23_TO_MOTOR
+            logger.info("Locomotion: 23-DOF (82D obs)")
+        else:
+            self.default_angles = DEFAULT_29DOF_ANGLES
+            self.kp = DEFAULT_29DOF_KP
+            self.kd = DEFAULT_29DOF_KD
+            self.motor_map = list(range(29))
+            logger.info("Locomotion: 29-DOF (100D obs)")
+
+        self.cmd = np.zeros(3, dtype=np.float32)
+        self.qj = np.zeros(self.num_dof, dtype=np.float32)
+        self.dqj = np.zeros(self.num_dof, dtype=np.float32)
+        self.obs = np.zeros(obs_dim, dtype=np.float32)
+        self.last_action = np.zeros(self.num_dof, dtype=np.float32)
+
+        self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+        self.phase_dt = 2 * np.pi / (50.0 * GAIT_PERIOD)
+        self.is_standing = True
+
+    def run_step(self):
+        """Single locomotion step."""
+        state = self.robot.lowstate_buffer.get_data()
+        if state is None:
+            return
+
+        # Joystick
+        if state.wireless_remote is not None:
+            self.robot.remote_controller.set(state.wireless_remote)
+
+        ly = self.robot.remote_controller.ly if abs(self.robot.remote_controller.ly) > 0.1 else 0.0
+        lx = self.robot.remote_controller.lx if abs(self.robot.remote_controller.lx) > 0.1 else 0.0
+        rx = self.robot.remote_controller.rx if abs(self.robot.remote_controller.rx) > 0.1 else 0.0
+        self.cmd[0], self.cmd[1], self.cmd[2] = ly, -lx, -rx
+
+        # Read joints via motor map
+        for i in range(self.num_dof):
+            self.qj[i] = state.motor_state[self.motor_map[i]].q
+            self.dqj[i] = state.motor_state[self.motor_map[i]].dq
+
+        # IMU
+        quat = state.imu_state.quaternion
+        ang_vel = np.array(state.imu_state.gyroscope, dtype=np.float32)
+        gravity = self.robot.get_gravity_orientation(quat)
+
+        # Scale
+        qj_obs = (self.qj - self.default_angles) * DOF_POS_SCALE
+        dqj_obs = self.dqj * DOF_VEL_SCALE
+        ang_vel_s = ang_vel * ANG_VEL_SCALE
+
+        # Phase
+        cmd_mag = np.linalg.norm(self.cmd[:2])
+        ang_mag = abs(self.cmd[2])
+        if cmd_mag < 0.01 and ang_mag < 0.01:
+            self.phase[0, :] = np.pi
+            self.is_standing = True
+        elif self.is_standing:
+            self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+            self.is_standing = False
+        else:
+            self.phase = np.fmod(self.phase + self.phase_dt + np.pi, 2*np.pi) - np.pi
+
+        sin_ph, cos_ph = np.sin(self.phase[0]), np.cos(self.phase[0])
+
+        # Build obs
+        if self.is_23dof:
+            self.obs[0:23] = self.last_action
+            self.obs[23:26] = ang_vel_s
+            self.obs[26] = self.cmd[2]
+            self.obs[27:29] = self.cmd[:2]
+            self.obs[29:31] = cos_ph
+            self.obs[31:54] = qj_obs
+            self.obs[54:77] = dqj_obs
+            self.obs[77:80] = gravity
+            self.obs[80:82] = sin_ph
+        else:
+            self.obs[0:29] = self.last_action
+            self.obs[29:32] = ang_vel_s
+            self.obs[32] = self.cmd[2]
+            self.obs[33:35] = self.cmd[:2]
+            self.obs[35:37] = cos_ph
+            self.obs[37:66] = qj_obs
+            self.obs[66:95] = dqj_obs
+            self.obs[95:98] = gravity
+            self.obs[98:100] = sin_ph
+
+        # Inference
+        obs_in = self.obs.reshape(1, -1).astype(np.float32)
+        ort_in = {self.policy.get_inputs()[0].name: obs_in}
+        raw_action = self.policy.run(None, ort_in)[0].squeeze()
+        clipped = np.clip(raw_action, -100.0, 100.0)
+        self.last_action = clipped.copy()
+        scaled = clipped * LOCOMOTION_ACTION_SCALE
+        target = self.default_angles + scaled
+
+        # Send commands
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            self.robot.msg.motor_cmd[motor_idx].q = float(target[i])
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Zero missing joints for 23-DOF
+        if self.is_23dof:
+            for idx in MISSING_23DOF_MOTORS:
+                self.robot.msg.motor_cmd[idx].q = 0.0
+                self.robot.msg.motor_cmd[idx].qd = 0
+                self.robot.msg.motor_cmd[idx].kp = 40.0
+                self.robot.msg.motor_cmd[idx].kd = 2.0
+                self.robot.msg.motor_cmd[idx].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+
+    def reset(self):
+        """Reset state for fresh start."""
+        self.last_action.fill(0)
+        self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+        self.is_standing = True
+
+
+# =============================================================================
+# DANCE CONTROLLER
+# =============================================================================
+
+class DanceController:
+    """WBT dance policy with FK for torso tracking."""
+
+    def __init__(self, policy, robot, pinocchio_fk, motor_kp, motor_kd, action_scale):
+        self.policy = policy
+        self.robot = robot
+        self.pinocchio_fk = pinocchio_fk
+        self.motor_kp = motor_kp
+        self.motor_kd = motor_kd
+        self.action_scale = action_scale
+
+        self.obs_dim = policy.get_inputs()[0].shape[1]
+        self.last_action = np.zeros((1, NUM_DOFS), dtype=np.float32)
+        self.motion_command = None
+        self.ref_quat_xyzw = None
+        self.timestep = 0
+        self.yaw_offset = 0.0
+
+        logger.info(f"Dance: obs_dim={self.obs_dim}, action_scale={action_scale}")
+
+    def initialize(self, reset_to_frame_0: bool = True):
+        """Initialize dance. If reset_to_frame_0=True, starts from frame 0. Otherwise resumes."""
+        if reset_to_frame_0:
+            self.timestep = 0
+            self.last_action.fill(0)
+
+            # Get initial motion data at frame 0
+            dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+            outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                                  {"obs": dummy, "time_step": np.array([[0]], dtype=np.float32)})
+            self.motion_command = np.concatenate(outs[0:2], axis=1)
+            self.ref_quat_xyzw = outs[2]
+            logger.info("Dance: reset to frame 0")
+        else:
+            # Resume from current timestep - just update motion command for current frame
+            dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+            outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                                  {"obs": dummy, "time_step": np.array([[self.timestep]], dtype=np.float32)})
+            self.motion_command = np.concatenate(outs[0:2], axis=1)
+            self.ref_quat_xyzw = outs[2]
+            logger.info(f"Dance: resuming from frame {self.timestep}")
+
+        # Capture yaw offset
+        state = self.robot.lowstate_buffer.get_data()
+        if state and self.pinocchio_fk:
+            quat = np.array(state.imu_state.quaternion, dtype=np.float32)
+            dof = np.array([state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof)
+            _, _, self.yaw_offset = quat_to_rpy(torso_q.flatten())
+            logger.info(f"Dance yaw offset: {np.degrees(self.yaw_offset):.1f}°")
+
+    def _remove_yaw_offset(self, quat_wxyz):
+        if abs(self.yaw_offset) < 1e-6:
+            return quat_wxyz
+        yaw_q = rpy_to_quat((0, 0, -self.yaw_offset)).reshape(1, 4)
+        return quat_mul(yaw_q, quat_wxyz)
+
+    def run_step(self):
+        """Single dance step."""
+        state = self.robot.lowstate_buffer.get_data()
+        if state is None:
+            return
+
+        quat = np.array(state.imu_state.quaternion, dtype=np.float32)
+        ang_vel = np.array(state.imu_state.gyroscope, dtype=np.float32)
+        dof_pos = np.array([state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+        dof_vel = np.array([state.motor_state[i].dq for i in range(NUM_DOFS)], dtype=np.float32)
+
+        # FK for torso orientation
+        if self.pinocchio_fk:
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof_pos)
+            torso_q = self._remove_yaw_offset(torso_q)
+            motion_ori = xyzw_to_wxyz(self.ref_quat_xyzw)
+            rel_quat = subtract_frame_transforms(torso_q, motion_ori)
+            ori_b = matrix_from_quat(rel_quat)[..., :2].reshape(1, -1)
+        else:
+            ori_b = np.zeros((1, 6), dtype=np.float32)
+
+        dof_rel = (dof_pos - DEFAULT_29DOF_ANGLES).reshape(1, -1)
+
+        # Build obs (alphabetical)
+        obs_dict = {
+            "actions": self.last_action,
+            "base_ang_vel": ang_vel.reshape(1, 3),
+            "dof_pos": dof_rel,
+            "dof_vel": dof_vel.reshape(1, -1),
+            "motion_command": self.motion_command,
+            "motion_ref_ori_b": ori_b,
+        }
+        obs = np.concatenate([obs_dict[k].astype(np.float32) for k in sorted(obs_dict.keys())], axis=1)
+        obs = np.clip(obs, -100, 100)
+
+        # Inference
+        outs = self.policy.run(["actions", "joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": obs, "time_step": np.array([[self.timestep]], dtype=np.float32)})
+        action = np.clip(outs[0], -100, 100)
+        self.motion_command = np.concatenate(outs[1:3], axis=1)
+        self.ref_quat_xyzw = outs[3]
+        self.last_action = action.copy()
+
+        target = DEFAULT_29DOF_ANGLES + action.flatten() * self.action_scale
+
+        # Send commands
+        for i in range(NUM_DOFS):
+            if i in FROZEN_JOINTS:
+                self.robot.msg.motor_cmd[i].q = 0.0
+                self.robot.msg.motor_cmd[i].kp = FROZEN_KP
+                self.robot.msg.motor_cmd[i].kd = FROZEN_KD
+            else:
+                self.robot.msg.motor_cmd[i].q = float(target[i])
+                self.robot.msg.motor_cmd[i].kp = self.motor_kp[i]
+                self.robot.msg.motor_cmd[i].kd = self.motor_kd[i]
+            self.robot.msg.motor_cmd[i].qd = 0
+            self.robot.msg.motor_cmd[i].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+        self.timestep += 1
+
+
+# =============================================================================
+# MAIN
+# =============================================================================
+
+def main():
+    parser = argparse.ArgumentParser(description="Locomotion ↔ Dance Toggle")
+    parser.add_argument("--loco-repo", type=str, default=DEFAULT_HOLOSOMA_REPO_ID)
+    parser.add_argument("--dance-onnx", type=str, default=DANCE_ONNX_PATH)
+    args = parser.parse_args()
+
+    print("=" * 70)
+    print("🚶 LOCOMOTION ↔ 💃 DANCE")
+    print("=" * 70)
+    print("Press ENTER to toggle between modes")
+    print("=" * 70)
+
+    # Load locomotion policy
+    logger.info("Loading locomotion policy...")
+    loco_path = hf_hub_download(repo_id=args.loco_repo, filename="fastsac_g1_29dof.onnx")
+    loco_policy = ort.InferenceSession(loco_path)
+    loco_obs_dim = loco_policy.get_inputs()[0].shape[1]
+    logger.info(f"Locomotion: {loco_obs_dim}D obs")
+
+    # Load dance policy
+    logger.info("Loading dance policy...")
+    dance_policy = ort.InferenceSession(args.dance_onnx)
+    dance_model = onnx.load(args.dance_onnx)
+    dance_meta = {p.key: json.loads(p.value) for p in dance_model.metadata_props}
+    dance_kp = np.array(dance_meta.get("kp", DEFAULT_29DOF_KP), dtype=np.float32)
+    dance_kd = np.array(dance_meta.get("kd", DEFAULT_29DOF_KD), dtype=np.float32)
+    dance_action_scale = float(dance_meta.get("action_scale", 1.0))
+    logger.info(f"Dance: {dance_policy.get_inputs()[0].shape[1]}D obs, scale={dance_action_scale}")
+
+    # Build Pinocchio FK
+    pinocchio_fk = None
+    if "robot_urdf" in dance_meta:
+        logger.info("Building Pinocchio FK...")
+        pinocchio_fk = PinocchioFK(dance_meta["robot_urdf"])
+
+    # Initialize robot
+    logger.info("Initializing robot...")
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+    logger.info("Robot connected!")
+
+    # Create controllers
+    loco_ctrl = LocomotionController(loco_policy, robot, loco_obs_dim)
+    dance_ctrl = DanceController(dance_policy, robot, pinocchio_fk, dance_kp, dance_kd, dance_action_scale)
+
+    # State
+    mode = "locomotion"
+    toggle_event = threading.Event()
+    shutdown = threading.Event()
+
+    # Input thread
+    def input_loop():
+        while not shutdown.is_set():
+            if select.select([sys.stdin], [], [], 0.1)[0]:
+                sys.stdin.readline()
+                toggle_event.set()
+
+    input_thread = threading.Thread(target=input_loop, daemon=True)
+    input_thread.start()
+
+    print("\n🚶 LOCOMOTION MODE - Use joystick to walk")
+    print("   Press ENTER to switch to DANCE")
+    print("-" * 70)
+
+    step = 0
+    try:
+        while not shutdown.is_set():
+            t0 = time.time()
+
+            # Check toggle
+            if toggle_event.is_set():
+                toggle_event.clear()
+                if mode == "locomotion":
+                    mode = "dance"
+                    dance_ctrl.initialize()
+                    print("\n" + "=" * 70)
+                    print("💃 DANCE MODE (frame 0)")
+                    print("   Press ENTER to switch to LOCOMOTION")
+                    print("=" * 70)
+                else:
+                    mode = "locomotion"
+                    loco_ctrl.reset()
+                    print("\n" + "=" * 70)
+                    print("🚶 LOCOMOTION MODE")
+                    print("   Press ENTER to switch to DANCE")
+                    print("=" * 70)
+
+            # Run controller
+            if mode == "locomotion":
+                loco_ctrl.run_step()
+            else:
+                dance_ctrl.run_step()
+
+            # Log
+            if step % 100 == 0:
+                if mode == "locomotion":
+                    print(f"[LOCO ] step={step:5d} cmd=[{loco_ctrl.cmd[0]:.2f},{loco_ctrl.cmd[1]:.2f},{loco_ctrl.cmd[2]:.2f}]")
+                else:
+                    print(f"[DANCE] step={step:5d} timestep={dance_ctrl.timestep}")
+
+            step += 1
+            elapsed = time.time() - t0
+            if elapsed < CONTROL_DT:
+                time.sleep(CONTROL_DT - elapsed)
+
+    except KeyboardInterrupt:
+        print("\n\nStopping...")
+    finally:
+        shutdown.set()
+        robot.disconnect()
+
+    print("Done!")
+
+
+if __name__ == "__main__":
+    main()

examples/unitree_g1/unitree_rl_locomotion.py

@@ -0,0 +1,447 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""
+Example: Unitree RL 12-DOF Legs-Only Locomotion (TorchScript)
+
+This example demonstrates loading a 12-DOF legs-only locomotion policy
+(TorchScript .pt format) and running it on the Unitree G1 robot.
+
+Key characteristics:
+- Single TorchScript policy (.pt)
+- 47D observations, 12D actions (legs only)
+- Phase-based gait timing
+- Arms and waist held at fixed positions
+"""
+
+import argparse
+import logging
+import threading
+import time
+
+import numpy as np
+import torch
+from huggingface_hub import hf_hub_download
+from scipy.spatial.transform import Rotation as R
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+# 12-DOF leg joint configuration
+# Joint order: [L_hip_pitch, L_hip_roll, L_hip_yaw, L_knee, L_ankle_pitch, L_ankle_roll,
+#               R_hip_pitch, R_hip_roll, R_hip_yaw, R_knee, R_ankle_pitch, R_ankle_roll]
+LEG_JOINT_INDICES = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+
+# Default leg angles for standing
+DEFAULT_LEG_ANGLES = np.array([
+    -0.1, 0.0, 0.0, 0.3, -0.2, 0.0,   # left leg
+    -0.1, 0.0, 0.0, 0.3, -0.2, 0.0,   # right leg
+], dtype=np.float32)
+
+# KP/KD for leg joints
+LEG_KPS = np.array([150, 150, 150, 300, 40, 40, 150, 150, 150, 300, 40, 40], dtype=np.float32)
+LEG_KDS = np.array([6, 6, 6, 4, 2, 2, 6, 6, 6, 4, 2, 2], dtype=np.float32)
+
+# Waist configuration (held at zero)
+WAIST_JOINT_INDICES = [12, 13, 14]  # yaw, roll, pitch
+WAIST_KPS = np.array([250, 250, 250], dtype=np.float32)
+WAIST_KDS = np.array([5, 5, 5], dtype=np.float32)
+
+# Arm configuration (indices 15-28, held at initial position)
+ARM_JOINT_INDICES = list(range(15, 29))
+ARM_KPS = np.array([80, 80, 80, 80, 40, 40, 40,   # left arm (shoulder + wrist)
+                   80, 80, 80, 80, 40, 40, 40], dtype=np.float32)  # right arm
+ARM_KDS = np.array([3, 3, 3, 3, 1.5, 1.5, 1.5,
+                   3, 3, 3, 3, 1.5, 1.5, 1.5], dtype=np.float32)
+
+# Control parameters
+LOCOMOTION_CONTROL_DT = 0.02  # 50Hz control rate
+LOCOMOTION_ACTION_SCALE = 0.25
+ANG_VEL_SCALE = 0.25
+DOF_POS_SCALE = 1.0
+DOF_VEL_SCALE = 0.05
+CMD_SCALE = np.array([2.0, 2.0, 0.25], dtype=np.float32)
+MAX_CMD = np.array([0.8, 0.5, 1.57], dtype=np.float32)  # max vx, vy, yaw_rate
+
+# Gait parameters
+GAIT_PERIOD = 0.8  # seconds
+
+DEFAULT_REPO_ID = "nepyope/unitree_rl_locomotion"
+
+
+def load_torchscript_policy(
+    repo_id: str = DEFAULT_REPO_ID,
+    filename: str = "motion.pt",
+) -> torch.jit.ScriptModule:
+    """Load TorchScript locomotion policy from Hugging Face Hub.
+
+    Args:
+        repo_id: Hugging Face Hub repository ID containing the policy.
+        filename: Policy filename (default: motion.pt).
+    """
+    logger.info(f"Loading TorchScript policy from Hugging Face Hub ({repo_id}/{filename})...")
+
+    policy_path = hf_hub_download(
+        repo_id=repo_id,
+        filename=filename,
+    )
+
+    policy = torch.jit.load(policy_path)
+    policy.eval()
+
+    logger.info("TorchScript policy loaded successfully")
+
+    return policy
+
+
+class UnitreeRLLocomotionController:
+    """
+    Handles 12-DOF legs-only locomotion control for the Unitree G1 robot.
+
+    This controller manages:
+    - Single TorchScript policy
+    - 47D observations (single frame)
+    - 12D action output (legs only)
+    - Arms and waist held at fixed positions
+    - Phase-based gait timing
+    """
+
+    def __init__(self, policy, robot, config):
+        self.policy = policy
+        self.robot = robot
+        self.config = config
+
+        # Velocity commands (vx, vy, yaw_rate)
+        self.locomotion_cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+
+        # State variables (12 DOF legs)
+        self.qj = np.zeros(12, dtype=np.float32)
+        self.dqj = np.zeros(12, dtype=np.float32)
+        self.locomotion_action = np.zeros(12, dtype=np.float32)
+        self.locomotion_obs = np.zeros(47, dtype=np.float32)
+
+        # Initial arm positions (captured on reset)
+        self.initial_arm_positions = np.zeros(14, dtype=np.float32)
+
+        # Counter for phase calculation
+        self.counter = 0
+
+        # Thread management
+        self.locomotion_running = False
+        self.locomotion_thread = None
+
+        logger.info("UnitreeRLLocomotionController initialized")
+        logger.info("  Observation dim: 47, Action dim: 12 (legs only)")
+
+    def locomotion_run(self):
+        """12-DOF legs-only locomotion policy loop."""
+        self.counter += 1
+
+        if self.counter == 1:
+            print("\n" + "=" * 60)
+            print("🚀 RUNNING UNITREE RL 12-DOF LOCOMOTION POLICY")
+            print("   47D observations → 12D actions (legs only)")
+            print("   Arms and waist held at fixed positions")
+            print("=" * 60 + "\n")
+
+        # Get current observation
+        robot_state = self.robot.get_observation()
+        if robot_state is None:
+            return
+
+        # Get command from remote controller
+        if robot_state.wireless_remote is not None:
+            self.robot.remote_controller.set(robot_state.wireless_remote)
+        else:
+            self.robot.remote_controller.lx = 0.0
+            self.robot.remote_controller.ly = 0.0
+            self.robot.remote_controller.rx = 0.0
+            self.robot.remote_controller.ry = 0.0
+
+        self.locomotion_cmd[0] = self.robot.remote_controller.ly       # forward/backward
+        self.locomotion_cmd[1] = self.robot.remote_controller.lx * -1  # left/right (inverted)
+        self.locomotion_cmd[2] = self.robot.remote_controller.rx * -1  # yaw (inverted)
+
+        # Get leg joint positions and velocities (12 DOF)
+        for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+            self.qj[i] = robot_state.motor_state[motor_idx].q
+            self.dqj[i] = robot_state.motor_state[motor_idx].dq
+
+        # Get IMU data
+        quat = robot_state.imu_state.quaternion
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+
+        # Scale observations
+        gravity_orientation = self.robot.get_gravity_orientation(quat)
+        qj_obs = (self.qj - DEFAULT_LEG_ANGLES) * DOF_POS_SCALE
+        dqj_obs = self.dqj * DOF_VEL_SCALE
+        ang_vel_scaled = ang_vel * ANG_VEL_SCALE
+
+        # Calculate phase
+        count = self.counter * LOCOMOTION_CONTROL_DT
+        phase = (count % GAIT_PERIOD) / GAIT_PERIOD
+        sin_phase = np.sin(2 * np.pi * phase)
+        cos_phase = np.cos(2 * np.pi * phase)
+
+        # Build 47D observation vector
+        # [0:3]   - angular velocity (scaled)
+        # [3:6]   - gravity orientation
+        # [6:9]   - velocity command (scaled)
+        # [9:21]  - joint positions (12D, relative to default)
+        # [21:33] - joint velocities (12D, scaled)
+        # [33:45] - previous actions (12D)
+        # [45]    - sin_phase
+        # [46]    - cos_phase
+        self.locomotion_obs[0:3] = ang_vel_scaled
+        self.locomotion_obs[3:6] = gravity_orientation
+        self.locomotion_obs[6:9] = self.locomotion_cmd * CMD_SCALE * MAX_CMD
+        self.locomotion_obs[9:21] = qj_obs
+        self.locomotion_obs[21:33] = dqj_obs
+        self.locomotion_obs[33:45] = self.locomotion_action
+        self.locomotion_obs[45] = sin_phase
+        self.locomotion_obs[46] = cos_phase
+
+        # Run policy inference (TorchScript)
+        obs_tensor = torch.from_numpy(self.locomotion_obs).unsqueeze(0).float()
+        with torch.no_grad():
+            action_tensor = self.policy(obs_tensor)
+        self.locomotion_action = action_tensor.squeeze().numpy()
+
+        # Transform action to target joint positions
+        target_leg_pos = DEFAULT_LEG_ANGLES + self.locomotion_action * LOCOMOTION_ACTION_SCALE
+
+        # Debug logging (first 3 iterations)
+        if self.counter <= 3:
+            print(f"\n[Unitree RL Debug #{self.counter}]")
+            print(f"  Phase: {phase:.3f} (sin={sin_phase:.3f}, cos={cos_phase:.3f})")
+            print(f"  Cmd (vx, vy, yaw): ({self.locomotion_cmd[0]:.2f}, {self.locomotion_cmd[1]:.2f}, {self.locomotion_cmd[2]:.2f})")
+            print(f"  Action range: [{self.locomotion_action.min():.3f}, {self.locomotion_action.max():.3f}]")
+
+        # Send commands to LEG motors (0-11)
+        for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+            self.robot.msg.motor_cmd[motor_idx].q = target_leg_pos[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = LEG_KPS[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = LEG_KDS[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Hold WAIST motors at zero (12, 13, 14)
+        for i, motor_idx in enumerate(WAIST_JOINT_INDICES):
+            self.robot.msg.motor_cmd[motor_idx].q = 0.0
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = WAIST_KPS[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = WAIST_KDS[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Hold ARM motors at initial position (15-28)
+        for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+            self.robot.msg.motor_cmd[motor_idx].q = self.initial_arm_positions[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = ARM_KPS[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = ARM_KDS[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Send command
+        self.robot.send_action(self.robot.msg)
+
+    def _locomotion_thread_loop(self):
+        """Background thread that runs the locomotion policy at specified rate."""
+        logger.info("Locomotion thread started")
+        while self.locomotion_running:
+            start_time = time.time()
+            try:
+                self.locomotion_run()
+            except Exception as e:
+                logger.error(f"Error in locomotion loop: {e}")
+                import traceback
+                traceback.print_exc()
+
+            # Sleep to maintain control rate
+            elapsed = time.time() - start_time
+            sleep_time = max(0, LOCOMOTION_CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Locomotion thread stopped")
+
+    def start_locomotion_thread(self):
+        if self.locomotion_running:
+            logger.warning("Locomotion thread already running")
+            return
+
+        logger.info("Starting locomotion control thread...")
+        self.locomotion_running = True
+        self.locomotion_thread = threading.Thread(target=self._locomotion_thread_loop, daemon=True)
+        self.locomotion_thread.start()
+
+        logger.info("Locomotion control thread started!")
+
+    def stop_locomotion_thread(self):
+        if not self.locomotion_running:
+            return
+
+        logger.info("Stopping locomotion control thread...")
+        self.locomotion_running = False
+        if self.locomotion_thread:
+            self.locomotion_thread.join(timeout=2.0)
+        logger.info("Locomotion control thread stopped")
+
+    def reset_robot(self):
+        """Move legs to default standing position over 2 seconds (arms are captured and held)."""
+        logger.info("Moving legs to default position...")
+
+        total_time = 2.0
+        num_step = int(total_time / self.robot.control_dt)
+
+        # Get current state
+        robot_state = self.robot.get_observation()
+
+        # Capture initial arm positions (to hold during locomotion)
+        for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+            self.initial_arm_positions[i] = robot_state.motor_state[motor_idx].q
+        logger.info(f"Captured initial arm positions: {self.initial_arm_positions[:4]}...")
+
+        # Record current leg positions
+        init_leg_pos = np.zeros(12, dtype=np.float32)
+        for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+            init_leg_pos[i] = robot_state.motor_state[motor_idx].q
+
+        # Interpolate legs to default position
+        for step in range(num_step):
+            alpha = step / num_step
+
+            # Interpolate leg positions
+            for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+                target_pos = DEFAULT_LEG_ANGLES[i]
+                self.robot.msg.motor_cmd[motor_idx].q = (
+                    init_leg_pos[i] * (1 - alpha) + target_pos * alpha
+                )
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = LEG_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = LEG_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold waist at zero
+            for i, motor_idx in enumerate(WAIST_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = WAIST_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = WAIST_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold arms at initial position
+            for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = self.initial_arm_positions[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = ARM_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = ARM_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info("Reached default leg position")
+
+        # Hold position for 2 seconds
+        logger.info("Holding default position for 2 seconds...")
+        hold_time = 2.0
+        num_hold_steps = int(hold_time / self.robot.control_dt)
+
+        for _ in range(num_hold_steps):
+            # Hold legs at default
+            for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = DEFAULT_LEG_ANGLES[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = LEG_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = LEG_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold waist at zero
+            for i, motor_idx in enumerate(WAIST_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = WAIST_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = WAIST_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold arms at initial position
+            for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = self.initial_arm_positions[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = ARM_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = ARM_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info("Ready to start locomotion!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Unitree RL 12-DOF Locomotion Controller for Unitree G1")
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        default=DEFAULT_REPO_ID,
+        help=f"Hugging Face Hub repo ID for policy (default: {DEFAULT_REPO_ID})",
+    )
+    parser.add_argument(
+        "--filename",
+        type=str,
+        default="motion.pt",
+        help="Policy filename (default: motion.pt)",
+    )
+    args = parser.parse_args()
+
+    # Load policy
+    policy = load_torchscript_policy(repo_id=args.repo_id, filename=args.filename)
+
+    # Initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+
+    # Initialize locomotion controller
+    locomotion_controller = UnitreeRLLocomotionController(
+        policy=policy,
+        robot=robot,
+        config=config,
+    )
+
+    # Reset robot and start locomotion thread
+    try:
+        locomotion_controller.reset_robot()
+        locomotion_controller.start_locomotion_thread()
+
+        # Log status
+        logger.info("Robot initialized with Unitree RL locomotion policy")
+        logger.info("Locomotion controller running in background thread")
+        logger.info("Use remote controller to command velocity:")
+        logger.info("  Left stick Y: forward/backward")
+        logger.info("  Left stick X: left/right")
+        logger.info("  Right stick X: rotate")
+        logger.info("Press Ctrl+C to stop")
+
+        # Keep robot alive
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        print("\nStopping locomotion...")
+        locomotion_controller.stop_locomotion_thread()
+        print("Done!")
+

pyproject.toml

@@ -107,6 +107,10 @@ dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
 gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
+unitree_g1 = [
+    "pyzmq>=26.2.1,<28.0.0",
+    "onnxruntime>=1.16.0"
+]
 reachy2 = ["reachy2_sdk>=1.0.14,<1.1.0"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
@@ -259,6 +263,7 @@ default.extend-ignore-identifiers-re = [
     "ein",
     "thw",
     "inpt",
+    "ROBOTIS",
 ]
 
 # TODO: Uncomment when ready to use
@@ -358,9 +363,9 @@ ignore_errors = false
 # module = "lerobot.async_inference.*"
 # ignore_errors = false
 
-# [[tool.mypy.overrides]]
-# module = "lerobot.transport.*"
-# ignore_errors = false
+[[tool.mypy.overrides]]
+module = "lerobot.transport.*"
+ignore_errors = false
 
 # [[tool.mypy.overrides]]
 # module = "lerobot.scripts.*"

src/lerobot/async_inference/constants.py

@@ -26,4 +26,4 @@ DEFAULT_OBS_QUEUE_TIMEOUT = 2
 SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "tdmpc", "vqbet", "pi0", "pi05"]
 
 # TODO: Add all other robots
-SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower"]
+SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower", "omx_follower"]

src/lerobot/async_inference/robot_client.py

@@ -54,6 +54,7 @@ from lerobot.robots import (  # noqa: F401
     bi_so100_follower,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )

src/lerobot/datasets/aggregate.py

@@ -136,21 +136,40 @@ def update_meta_data(
         df["_orig_chunk"] = df[orig_chunk_col].copy()
         df["_orig_file"] = df[orig_file_col].copy()
 
-        # Update chunk and file indices to point to destination
-        df[orig_chunk_col] = video_idx["chunk"]
-        df[orig_file_col] = video_idx["file"]
-
-        # Apply per-source-file timestamp offsets
+        # Get mappings for this video key
         src_to_offset = video_idx.get("src_to_offset", {})
-        if src_to_offset:
-            # Apply offset based on original source file
+        src_to_dst = video_idx.get("src_to_dst", {})
+
+        # Apply per-source-file mappings
+        if src_to_dst:
+            # Map each episode to its correct destination file and apply offset
             for idx in df.index:
-                src_key = (df.at[idx, "_orig_chunk"], df.at[idx, "_orig_file"])
+                # Convert to Python int to avoid numpy type mismatch in dict lookup
+                src_key = (int(df.at[idx, "_orig_chunk"]), int(df.at[idx, "_orig_file"]))
+
+                # Get destination chunk/file for this source file
+                dst_chunk, dst_file = src_to_dst.get(src_key, (video_idx["chunk"], video_idx["file"]))
+                df.at[idx, orig_chunk_col] = dst_chunk
+                df.at[idx, orig_file_col] = dst_file
+
+                # Apply timestamp offset
+                offset = src_to_offset.get(src_key, 0)
+                df.at[idx, f"videos/{key}/from_timestamp"] += offset
+                df.at[idx, f"videos/{key}/to_timestamp"] += offset
+        elif src_to_offset:
+            # Fallback: use same destination for all, but apply per-file offsets
+            df[orig_chunk_col] = video_idx["chunk"]
+            df[orig_file_col] = video_idx["file"]
+            for idx in df.index:
+                # Convert to Python int to avoid numpy type mismatch in dict lookup
+                src_key = (int(df.at[idx, "_orig_chunk"]), int(df.at[idx, "_orig_file"]))
                 offset = src_to_offset.get(src_key, 0)
                 df.at[idx, f"videos/{key}/from_timestamp"] += offset
                 df.at[idx, f"videos/{key}/to_timestamp"] += offset
         else:
             # Fallback to simple offset (for backward compatibility)
+            df[orig_chunk_col] = video_idx["chunk"]
+            df[orig_file_col] = video_idx["file"]
             df[f"videos/{key}/from_timestamp"] = (
                 df[f"videos/{key}/from_timestamp"] + video_idx["latest_duration"]
             )
@@ -268,6 +287,12 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
         videos_idx[key]["episode_duration"] = 0
         # Track offset for each source (chunk, file) pair
         videos_idx[key]["src_to_offset"] = {}
+        # Track destination (chunk, file) for each source (chunk, file) pair
+        videos_idx[key]["src_to_dst"] = {}
+        # Initialize dst_file_durations if not present
+        # dst_file_durations tracks duration of each destination file
+        if "dst_file_durations" not in videos_idx[key]:
+            videos_idx[key]["dst_file_durations"] = {}
 
     for key, video_idx in videos_idx.items():
         unique_chunk_file_pairs = {
@@ -282,9 +307,13 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
 
         chunk_idx = video_idx["chunk"]
         file_idx = video_idx["file"]
-        current_offset = video_idx["latest_duration"]
+        dst_file_durations = video_idx["dst_file_durations"]
 
         for src_chunk_idx, src_file_idx in unique_chunk_file_pairs:
+            # Convert to Python int to ensure consistent dict keys
+            src_chunk_idx = int(src_chunk_idx)
+            src_file_idx = int(src_file_idx)
+
             src_path = src_meta.root / DEFAULT_VIDEO_PATH.format(
                 video_key=key,
                 chunk_index=src_chunk_idx,
@@ -298,14 +327,17 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
             )
 
             src_duration = get_video_duration_in_s(src_path)
+            dst_key = (chunk_idx, file_idx)
 
             if not dst_path.exists():
-                # Store offset before incrementing
-                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_offset
+                # New destination file: offset is 0
+                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
+                videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
                 dst_path.parent.mkdir(parents=True, exist_ok=True)
                 shutil.copy(str(src_path), str(dst_path))
+                # Track duration of this destination file
+                dst_file_durations[dst_key] = src_duration
                 videos_idx[key]["episode_duration"] += src_duration
-                current_offset += src_duration
                 continue
 
             # Check file sizes before appending
@@ -313,10 +345,11 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
             dst_size = get_file_size_in_mb(dst_path)
 
             if dst_size + src_size >= video_files_size_in_mb:
-                # Rotate to a new file, this source becomes start of new destination
-                # So its offset should be 0
-                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
+                # Rotate to a new file - offset is 0
                 chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, chunk_size)
+                dst_key = (chunk_idx, file_idx)
+                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
+                videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
                 dst_path = dst_meta.root / DEFAULT_VIDEO_PATH.format(
                     video_key=key,
                     chunk_index=chunk_idx,
@@ -324,16 +357,20 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
                 )
                 dst_path.parent.mkdir(parents=True, exist_ok=True)
                 shutil.copy(str(src_path), str(dst_path))
-                # Reset offset for next file
-                current_offset = src_duration
+                # Track duration of this new destination file
+                dst_file_durations[dst_key] = src_duration
             else:
-                # Append to existing video file - use current accumulated offset
-                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_offset
+                # Append to existing destination file
+                # Offset is the current duration of this destination file
+                current_dst_duration = dst_file_durations.get(dst_key, 0)
+                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_dst_duration
+                videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
                 concatenate_video_files(
                     [dst_path, src_path],
                     dst_path,
                 )
-                current_offset += src_duration
+                # Update duration of this destination file
+                dst_file_durations[dst_key] = current_dst_duration + src_duration
 
             videos_idx[key]["episode_duration"] += src_duration
 

src/lerobot/optim/optimizers.py

@@ -104,6 +104,107 @@ class SGDConfig(OptimizerConfig):
         return torch.optim.SGD(params, **kwargs)
 
 
+@OptimizerConfig.register_subclass("xvla-adamw")
+@dataclass
+class XVLAAdamWConfig(OptimizerConfig):
+    """Custom AdamW optimizer for XVLA with differential learning rates.
+
+    The Vision-Language Model (VLM) is trained with 1/10 of the base learning rate
+    for stable optimization, while all other components use the full LR.
+
+    This LR ratio is crucial for achieving strong and stable finetuning performance.
+
+    Soft-prompts can optionally use a separate learning rate with warm-up support.
+    Set `soft_prompt_lr_scale` to a value < 1.0 (e.g., 0.1) to start soft-prompts
+    at a lower LR. Combine with a warmup scheduler for optimal results.
+
+    Note:
+        Completely matching official reported performance may require an additional
+        warm-up LR schedule for soft-prompts, which can bring minor improvements.
+        When `soft_prompt_warmup_lr_scale` is set, soft-prompts start at
+        `lr * soft_prompt_warmup_lr_scale` and should be warmed up via the scheduler.
+
+    Parameter Groups:
+        - Group 0 (vlm): VLM parameters at lr * 0.1, weight_decay * 0.1
+        - Group 1 (soft_prompts): Soft-prompt parameters at lr * soft_prompt_lr_scale
+        - Group 2 (other): All other parameters at full lr
+    """
+
+    lr: float = 1e-4
+    betas: tuple[float, float] = (0.9, 0.99)
+    eps: float = 1e-8
+    weight_decay: float = 0.0
+    grad_clip_norm: float = 10.0
+    # Soft-prompt specific settings
+    soft_prompt_lr_scale: float = 1.0  # Scale factor for soft-prompt LR (1.0 = same as base LR)
+    soft_prompt_warmup_lr_scale: float | None = None  # If set, start soft-prompts at this scale (e.g., 0.01)
+
+    def build(self, params: dict) -> torch.optim.Optimizer:
+        """
+        Build AdamW optimizer with differential learning rates.
+
+        Expects `named_parameters()` as input (dict of name -> param).
+        Applies:
+        - lr * 0.1 for all VLM-related parameters
+        - lr * soft_prompt_lr_scale for soft-prompt parameters (with optional warmup)
+        - full lr for all other parameters
+
+        Args:
+            params: Dictionary of parameter names to parameters (from named_parameters())
+
+        Returns:
+            AdamW optimizer with parameter groups for VLM, soft-prompts, and other components
+        """
+        assert isinstance(params, dict), "Custom LR optimizer requires `named_parameters()` as inputs."
+
+        vlm_group, soft_prompt_group, other_group = [], [], []
+        for name, p in params.items():
+            if not p.requires_grad:
+                continue
+            if "vlm" in name.lower():
+                vlm_group.append(p)
+            elif "soft_prompt" in name.lower():
+                soft_prompt_group.append(p)
+            else:
+                other_group.append(p)
+
+        # Determine soft-prompt LR
+        soft_prompt_lr = self.lr * self.soft_prompt_lr_scale
+        if self.soft_prompt_warmup_lr_scale is not None:
+            # Start at warmup scale, scheduler will warm up to soft_prompt_lr
+            soft_prompt_lr = self.lr * self.soft_prompt_warmup_lr_scale
+
+        param_groups = [
+            {
+                "params": vlm_group,
+                "lr": self.lr * 0.1,
+                "weight_decay": self.weight_decay * 0.1,
+                "name": "vlm",
+            },
+            {
+                "params": soft_prompt_group,
+                "lr": soft_prompt_lr,
+                "weight_decay": self.weight_decay,
+                "name": "soft_prompts",
+            },
+            {
+                "params": other_group,
+                "lr": self.lr,
+                "weight_decay": self.weight_decay,
+                "name": "other",
+            },
+        ]
+
+        # Filter out empty groups
+        param_groups = [g for g in param_groups if len(g["params"]) > 0]
+
+        return torch.optim.AdamW(
+            param_groups,
+            betas=self.betas,
+            eps=self.eps,
+        )
+
+
 @OptimizerConfig.register_subclass("multi_adam")
 @dataclass
 class MultiAdamConfig(OptimizerConfig):

src/lerobot/policies/factory.py

@@ -16,6 +16,7 @@
 
 from __future__ import annotations
 
+import importlib
 import logging
 from typing import Any, TypedDict
 
@@ -113,7 +114,10 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
 
         return XVLAPolicy
     else:
-        raise NotImplementedError(f"Policy with name {name} is not implemented.")
+        try:
+            return _get_policy_cls_from_policy_name(name=name)
+        except Exception as e:
+            raise ValueError(f"Policy type '{name}' is not available.") from e
 
 
 def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
@@ -158,7 +162,11 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
     elif policy_type == "xvla":
         return XVLAConfig(**kwargs)
     else:
-        raise ValueError(f"Policy type '{policy_type}' is not available.")
+        try:
+            config_cls = PreTrainedConfig.get_choice_class(policy_type)
+            return config_cls(**kwargs)
+        except Exception as e:
+            raise ValueError(f"Policy type '{policy_type}' is not available.") from e
 
 
 class ProcessorConfigKwargs(TypedDict, total=False):
@@ -347,7 +355,13 @@ def make_pre_post_processors(
         )
 
     else:
-        raise NotImplementedError(f"Processor for policy type '{policy_cfg.type}' is not implemented.")
+        try:
+            processors = _make_processors_from_policy_config(
+                config=policy_cfg,
+                dataset_stats=kwargs.get("dataset_stats"),
+            )
+        except Exception as e:
+            raise ValueError(f"Processor for policy type '{policy_cfg.type}' is not implemented.") from e
 
     return processors
 
@@ -416,8 +430,7 @@ def make_policy(
             raise ValueError("env_cfg cannot be None when ds_meta is not provided")
         features = env_to_policy_features(env_cfg)
 
-    if not cfg.output_features:
-        cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
+    cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
     if not cfg.input_features:
         cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
     kwargs["config"] = cfg
@@ -441,3 +454,65 @@ def make_policy(
         # TODO: (jadechoghari) - add a check_state(cfg, features) and check_action(cfg, features)
 
     return policy
+
+
+def _get_policy_cls_from_policy_name(name: str) -> type[PreTrainedConfig]:
+    """Get policy class from its registered name using dynamic imports.
+
+    This is used as a helper function to import policies from 3rd party lerobot plugins.
+
+    Args:
+        name: The name of the policy.
+    Returns:
+        The policy class corresponding to the given name.
+    """
+    if name not in PreTrainedConfig.get_known_choices():
+        raise ValueError(
+            f"Unknown policy name '{name}'. Available policies: {PreTrainedConfig.get_known_choices()}"
+        )
+
+    config_cls = PreTrainedConfig.get_choice_class(name)
+    config_cls_name = config_cls.__name__
+
+    model_name = config_cls_name.removesuffix("Config")  # e.g., DiffusionConfig -> Diffusion
+    if model_name == config_cls_name:
+        raise ValueError(
+            f"The config class name '{config_cls_name}' does not follow the expected naming convention."
+            f"Make sure it ends with 'Config'!"
+        )
+    cls_name = model_name + "Policy"  # e.g., DiffusionConfig -> DiffusionPolicy
+    module_path = config_cls.__module__.replace(
+        "configuration_", "modeling_"
+    )  # e.g., configuration_diffusion -> modeling_diffusion
+
+    module = importlib.import_module(module_path)
+    policy_cls = getattr(module, cls_name)
+    return policy_cls
+
+
+def _make_processors_from_policy_config(
+    config: PreTrainedConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+) -> tuple[Any, Any]:
+    """Create pre- and post-processors from a policy configuration using dynamic imports.
+
+    This is used as a helper function to import processor factories from 3rd party lerobot plugins.
+
+    Args:
+        config: The policy configuration object.
+        dataset_stats: Dataset statistics for normalization.
+    Returns:
+        A tuple containing the input (pre-processor) and output (post-processor) pipelines.
+    """
+
+    policy_type = config.type
+    function_name = f"make_{policy_type}_pre_post_processors"
+    module_path = config.__class__.__module__.replace(
+        "configuration_", "processor_"
+    )  # e.g., configuration_diffusion -> processor_diffusion
+    logging.debug(
+        f"Instantiating pre/post processors using function '{function_name}' from module '{module_path}'"
+    )
+    module = importlib.import_module(module_path)
+    function = getattr(module, function_name)
+    return function(config, dataset_stats=dataset_stats)

src/lerobot/policies/pi0/configuration_pi0.py

@@ -23,6 +23,8 @@ from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.utils.constants import OBS_IMAGES
 
+DEFAULT_IMAGE_SIZE = 224
+
 
 @PreTrainedConfig.register_subclass("pi0")
 @dataclass
@@ -51,7 +53,10 @@ class PI0Config(PreTrainedConfig):
     # Real-Time Chunking (RTC) configuration
     rtc_config: RTCConfig | None = None
 
-    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
+    image_resolution: tuple[int, int] = (
+        DEFAULT_IMAGE_SIZE,
+        DEFAULT_IMAGE_SIZE,
+    )  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.
     empty_cameras: int = 0

src/lerobot/policies/pi0/modeling_pi0.py

@@ -41,7 +41,7 @@ else:
     PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi0.configuration_pi0 import PI0Config
+from lerobot.policies.pi0.configuration_pi0 import DEFAULT_IMAGE_SIZE, PI0Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
@@ -337,6 +337,7 @@ class PaliGemmaWithExpertModel(
         action_expert_config,
         use_adarms=None,
         precision: Literal["bfloat16", "float32"] = "bfloat16",
+        image_size: int = DEFAULT_IMAGE_SIZE,
     ):
         if use_adarms is None:
             use_adarms = [False, False]
@@ -356,6 +357,7 @@ class PaliGemmaWithExpertModel(
         vlm_config_hf.text_config.vocab_size = 257152
         vlm_config_hf.text_config.use_adarms = use_adarms[0]
         vlm_config_hf.text_config.adarms_cond_dim = vlm_config.width if use_adarms[0] else None
+        vlm_config_hf.vision_config.image_size = image_size
         vlm_config_hf.vision_config.intermediate_size = 4304
         vlm_config_hf.vision_config.projection_dim = 2048
         vlm_config_hf.vision_config.projector_hidden_act = "gelu_fast"
@@ -519,11 +521,17 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
 
+        if config.image_resolution[0] != config.image_resolution[1]:
+            raise ValueError(
+                f"PaliGemma expects square image resolution, invalid resolution: {config.image_resolution}"
+            )
+
         self.paligemma_with_expert = PaliGemmaWithExpertModel(
             paligemma_config,
             action_expert_config,
             use_adarms=[False, False],
             precision=config.dtype,
+            image_size=config.image_resolution[0],
         )
 
         self.action_in_proj = nn.Linear(config.max_action_dim, action_expert_config.width)
@@ -812,16 +820,13 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
-        while time >= -dt / 2:
-            expanded_time = time.expand(bsize)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
                 return self.denoise_step(
                     state=state,
                     prefix_pad_masks=prefix_pad_masks,
@@ -846,15 +851,11 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
-            x_t += dt * v_t
+            x_t = x_t + dt * v_t
 
-            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/pi05/configuration_pi05.py

@@ -22,6 +22,8 @@ from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 
+DEFAULT_IMAGE_SIZE = 224
+
 
 @PreTrainedConfig.register_subclass("pi05")
 @dataclass
@@ -50,7 +52,10 @@ class PI05Config(PreTrainedConfig):
     # Real-Time Chunking (RTC) configuration
     rtc_config: RTCConfig | None = None
 
-    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
+    image_resolution: tuple[int, int] = (
+        DEFAULT_IMAGE_SIZE,
+        DEFAULT_IMAGE_SIZE,
+    )  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.
     empty_cameras: int = 0

src/lerobot/policies/pi05/modeling_pi05.py

@@ -41,7 +41,7 @@ else:
     PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi05.configuration_pi05 import PI05Config
+from lerobot.policies.pi05.configuration_pi05 import DEFAULT_IMAGE_SIZE, PI05Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
@@ -336,6 +336,7 @@ class PaliGemmaWithExpertModel(
         action_expert_config,
         use_adarms=None,
         precision: Literal["bfloat16", "float32"] = "bfloat16",
+        image_size: int = DEFAULT_IMAGE_SIZE,
     ):
         if use_adarms is None:
             use_adarms = [False, False]
@@ -355,6 +356,7 @@ class PaliGemmaWithExpertModel(
         vlm_config_hf.text_config.vocab_size = 257152
         vlm_config_hf.text_config.use_adarms = use_adarms[0]
         vlm_config_hf.text_config.adarms_cond_dim = vlm_config.width if use_adarms[0] else None
+        vlm_config_hf.vision_config.image_size = image_size
         vlm_config_hf.vision_config.intermediate_size = 4304
         vlm_config_hf.vision_config.projection_dim = 2048
         vlm_config_hf.vision_config.projector_hidden_act = "gelu_fast"
@@ -518,11 +520,17 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
 
+        if config.image_resolution[0] != config.image_resolution[1]:
+            raise ValueError(
+                f"PaliGemma expects square image resolution, invalid resolution: {config.image_resolution}"
+            )
+
         self.paligemma_with_expert = PaliGemmaWithExpertModel(
             paligemma_config,
             action_expert_config,
             use_adarms=[False, True],
             precision=config.dtype,
+            image_size=config.image_resolution[0],
         )
 
         self.action_in_proj = nn.Linear(config.max_action_dim, action_expert_config.width)
@@ -538,6 +546,8 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         if config.compile_model:
             torch.set_float32_matmul_precision("high")
             self.sample_actions = torch.compile(self.sample_actions, mode=config.compile_mode)
+            # Also compile the main forward pass used during training
+            self.forward = torch.compile(self.forward, mode=config.compile_mode)
 
         msg = """An incorrect transformer version is used, please create an issue on https://github.com/huggingface/lerobot/issues"""
 
@@ -785,16 +795,13 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
-        while time >= -dt / 2:
-            expanded_time = time.expand(bsize)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
                 return self.denoise_step(
                     prefix_pad_masks=prefix_pad_masks,
                     past_key_values=past_key_values,
@@ -818,15 +825,11 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
-            x_t += dt * v_t
+            x_t = x_t + dt * v_t
 
-            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -783,18 +783,15 @@ class VLAFlowMatching(nn.Module):
             use_cache=self.config.use_cache,
             fill_kv_cache=True,
         )
-        dt = -1.0 / self.config.num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
+        num_steps = self.config.num_steps
+        dt = -1.0 / num_steps
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-        while time >= -dt / 2:
-            expanded_time = time.expand(bsize)
-
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
                 return self.denoise_step(
                     x_t=input_x_t,
                     prefix_pad_masks=prefix_pad_masks,
@@ -818,15 +815,11 @@ class VLAFlowMatching(nn.Module):
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
-            x_t += dt * v_t
+            x_t = x_t + dt * v_t
 
-            # Record x_t and v_t after Euler step (other params are recorded in rtc_processor.denoise_step)
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/xvla/action_hub.py

@@ -269,27 +269,160 @@ class AGIBOTEE6DActionSpace(BaseActionSpace):
 
 @register_action("franka_joint7")
 class FrankaJoint7ActionSpace(BaseActionSpace):
-    """Franka Panda joint-space: 7 joints, no gripper."""
+    """
+    Franka Panda joint-space: 7 joints, with gripper.
+
+    - Real robot action dim: 7
+    - Model-facing dim: 20 (padded with zeros)
+      compatible with pretrained VLA models expecting 20D.
+    """
+
+    dim_action = 20  # model dimension
+    REAL_DIM = 7  # actual Franka joints
 
-    dim_action = 7
     JOINTS_SCALE = 1.0
 
     def __init__(self):
         super().__init__()
         self.mse = nn.MSELoss()
 
+    def _pad_to_model_dim(self, x: torch.Tensor) -> torch.Tensor:
+        """Pad 7 → 20 dims (zeros for the dummy channels)."""
+        if x is None:
+            return None
+        if x.size(-1) == self.dim_action:
+            return x
+        if x.size(-1) != self.REAL_DIM:
+            raise ValueError(
+                f"Expected last dim to be {self.REAL_DIM} or {self.dim_action}, got {x.size(-1)}"
+            )
+
+        pad_shape = list(x.shape[:-1]) + [self.dim_action - self.REAL_DIM]  # 13 zeros
+        pad = x.new_zeros(pad_shape)
+        return torch.cat([x, pad], dim=-1)
+
+    def _trim_to_real_dim(self, x: torch.Tensor) -> torch.Tensor:
+        """Trim model output 20 → 7 dims."""
+        return x[..., : self.REAL_DIM]
+
     def compute_loss(self, pred, target):
-        assert pred.shape == target.shape, "pred/target shapes must match"
-        joints_loss = self.mse(pred, target) * self.JOINTS_SCALE
+        """
+        pred :  [B, T, 20]
+        target : [B, T, 7] or [B, T, 20]
+
+        Only compute MSE on the first 7 dims.
+        """
+        pred = self._pad_to_model_dim(pred)
+        target = self._pad_to_model_dim(target)
+
+        assert pred.shape == target.shape
+
+        joints_loss = (
+            self.mse(
+                pred[:, :, : self.REAL_DIM],  # use only the first 7 joints
+                target[:, :, : self.REAL_DIM],
+            )
+            * self.JOINTS_SCALE
+        )
+
         return {"joints_loss": joints_loss}
 
     def preprocess(self, proprio, action, mode="train"):
-        """No preprocessing needed for 7 joint actions."""
-        return proprio, action
+        """
+        During training:
+        - Pad [7] → [20]
+        """
+        return proprio, self._pad_to_model_dim(action)
 
     def postprocess(self, action: torch.Tensor) -> torch.Tensor:
-        """Return directly (no sigmoid since no gripper)."""
-        return action
+        """
+        After model prediction:
+        - Trim [20] → [7] for real robot control.
+        """
+        return self._trim_to_real_dim(action)
+
+
+@register_action("auto")
+class AutoActionSpace(BaseActionSpace):
+    """
+    Auto-detecting action space that adapts to any action dimension.
+
+    - Auto-detects the real action dimension from the policy feature
+    - Model outputs max_dim for compatibility with pretrained models
+    - Loss is computed only on the first real_dim dimensions
+    - Postprocess trims output back to real_dim
+
+    Args:
+        real_dim: The actual action dimension from the dataset/policy feature
+        max_dim: The model's output dimension for pretrained VLA compatibility
+    """
+
+    JOINTS_SCALE = 1.0
+
+    def __init__(self, real_dim: int, max_dim: int):
+        super().__init__()
+        self.real_dim = real_dim
+        self.dim_action = max_dim  # Model-facing dimension
+        self.mse = nn.MSELoss()
+
+    def _pad_to_model_dim(self, x: torch.Tensor) -> torch.Tensor:
+        """Pad real_dim → max_dim (zeros for the dummy channels)."""
+        if x is None:
+            return None
+        if x.size(-1) == self.dim_action:
+            return x
+        if x.size(-1) != self.real_dim:
+            # If dimension doesn't match either, pad/trim to real_dim first
+            if x.size(-1) < self.real_dim:
+                pad_shape = list(x.shape[:-1]) + [self.real_dim - x.size(-1)]
+                pad = x.new_zeros(pad_shape)
+                x = torch.cat([x, pad], dim=-1)
+            else:
+                x = x[..., : self.real_dim]
+
+        pad_shape = list(x.shape[:-1]) + [self.dim_action - self.real_dim]
+        pad = x.new_zeros(pad_shape)
+        return torch.cat([x, pad], dim=-1)
+
+    def _trim_to_real_dim(self, x: torch.Tensor) -> torch.Tensor:
+        """Trim model output max_dim → real_dim."""
+        return x[..., : self.real_dim]
+
+    def compute_loss(self, pred: torch.Tensor, target: torch.Tensor) -> dict[str, torch.Tensor]:
+        """
+        Compute loss only on the first real_dim dimensions.
+
+        pred:   [B, T, max_dim] from the model
+        target: [B, T, real_dim] or [B, T, max_dim]
+
+        Loss = MSE(pred[:,:,:real_dim], target[:,:,:real_dim])
+        """
+        pred = self._pad_to_model_dim(pred)
+        target = self._pad_to_model_dim(target)
+        assert pred.shape == target.shape, f"Shape mismatch: pred {pred.shape} vs target {target.shape}"
+
+        # only compute loss on the real dimensions
+        joints_loss = (
+            self.mse(
+                pred[:, :, : self.real_dim],
+                target[:, :, : self.real_dim],
+            )
+            * self.JOINTS_SCALE
+        )
+
+        return {"joints_loss": joints_loss}
+
+    def preprocess(self, proprio: torch.Tensor, action: torch.Tensor, mode: str = "train"):
+        """
+        Pad action from real_dim to max_dim for the model.
+        """
+        return proprio, self._pad_to_model_dim(action)
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """
+        Trim model output from max_dim to real_dim for real robot control.
+        """
+        return self._trim_to_real_dim(action)
 
 
 @register_action("so101_bimanual")
@@ -449,6 +582,7 @@ __all__ = [
     "JointActionSpace",
     "AGIBOTEE6DActionSpace",
     "FrankaJoint7ActionSpace",
+    "AutoActionSpace",
     "BimanualSO101ActionSpace",
     "ACTION_REGISTRY",
 ]

src/lerobot/policies/xvla/configuration_xvla.py

@@ -23,7 +23,7 @@ from typing import TYPE_CHECKING, Any
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.optim.optimizers import AdamWConfig
+from lerobot.optim.optimizers import XVLAAdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.utils.constants import OBS_IMAGES
 
@@ -57,7 +57,7 @@ class XVLAConfig(PreTrainedConfig):
         default_factory=lambda: {
             "VISUAL": NormalizationMode.IDENTITY,
             "STATE": NormalizationMode.IDENTITY,
-            "ACTION": NormalizationMode.MEAN_STD,
+            "ACTION": NormalizationMode.IDENTITY,
         }
     )
 
@@ -84,6 +84,7 @@ class XVLAConfig(PreTrainedConfig):
     num_denoising_steps: int = 10
     use_proprio: bool = True
     max_state_dim: int = 32
+    max_action_dim: int = 20  # Maximum action dimension for padding (used by "auto" action mode)
     domain_feature_key: str | None = None
 
     # Vision preprocessing
@@ -93,17 +94,20 @@ class XVLAConfig(PreTrainedConfig):
 
     # Freezing options for VLM components
     # By default, VLM encoders are frozen and only policy transformer + soft prompts train
-    freeze_vision_encoder: bool = True  # Freeze VLM vision encoder weights
-    freeze_language_encoder: bool = True  # Freeze VLM language encoder weights
+    freeze_vision_encoder: bool = False  # Freeze VLM vision encoder weights
+    freeze_language_encoder: bool = False  # Freeze VLM language encoder weights
     train_policy_transformer: bool = True  # Allow policy transformer to train
     train_soft_prompts: bool = True  # Allow soft prompts to train
 
     # Training presets
     optimizer_lr: float = 1e-4
-    optimizer_betas: tuple[float, float] = (0.9, 0.95)
+    optimizer_betas: tuple[float, float] = (0.9, 0.99)
     optimizer_eps: float = 1e-8
-    optimizer_weight_decay: float = 1e-4
+    optimizer_weight_decay: float = 0.0
     optimizer_grad_clip_norm: float = 10.0
+    # Soft-prompt LR settings (for optional warm-up)
+    optimizer_soft_prompt_lr_scale: float = 1.0  # Scale factor for soft-prompt LR
+    optimizer_soft_prompt_warmup_lr_scale: float | None = None  # Start scale for warmup (e.g., 0.01)
 
     scheduler_warmup_steps: int = 1_000
     scheduler_decay_steps: int = 30_000
@@ -160,13 +164,22 @@ class XVLAConfig(PreTrainedConfig):
                         shape=(3, height, width),
                     )
 
-    def get_optimizer_preset(self) -> AdamWConfig:
-        return AdamWConfig(
+    def get_optimizer_preset(self) -> XVLAAdamWConfig:
+        """Return the XVLA-specific optimizer with differential learning rates.
+
+        This optimizer applies:
+        - 1/10 LR for VLM parameters (stable optimization)
+        - Full LR for transformer/action head
+        - Configurable LR for soft-prompts (with optional warm-up)
+        """
+        return XVLAAdamWConfig(
             lr=self.optimizer_lr,
             betas=self.optimizer_betas,
             eps=self.optimizer_eps,
             weight_decay=self.optimizer_weight_decay,
             grad_clip_norm=self.optimizer_grad_clip_norm,
+            soft_prompt_lr_scale=self.optimizer_soft_prompt_lr_scale,
+            soft_prompt_warmup_lr_scale=self.optimizer_soft_prompt_warmup_lr_scale,
         )
 
     def get_scheduler_preset(self) -> CosineDecayWithWarmupSchedulerConfig:

src/lerobot/policies/xvla/modeling_florence2.py

@@ -2508,6 +2508,9 @@ class Florence2ForConditionalGeneration(Florence2PreTrainedModel):
         return model_embeds
 
     def _encode_image(self, pixel_values):
+        # Cast pixel_values to model's dtype
+        pixel_values = pixel_values.to(dtype=self.vision_tower.convs[0].proj.weight.dtype)
+
         if len(pixel_values.shape) == 4:
             batch_size, channels, height, width = pixel_values.shape
             num_frames = 1

src/lerobot/policies/xvla/modeling_xvla.py

@@ -55,7 +55,23 @@ class XVLAModel(nn.Module):
         self.config = config
         self.chunk_size: int = config.chunk_size
         self.use_proprio: bool = config.use_proprio
-        self.action_space = build_action_space(config.action_mode.lower())
+
+        # Build action space with auto-detection for "auto" mode
+        if config.action_mode.lower() == "auto":
+            # Auto-detect real action dim from config.action_feature
+            real_dim = (
+                config.action_feature.shape[-1]
+                if config.action_feature is not None
+                else config.max_action_dim
+            )
+            self.action_space = build_action_space(
+                config.action_mode.lower(),
+                real_dim=real_dim,
+                max_dim=config.max_action_dim,
+            )
+        else:
+            self.action_space = build_action_space(config.action_mode.lower())
+
         self.dim_action = self.action_space.dim_action
         self.dim_proprio = proprio_dim
 
@@ -184,12 +200,20 @@ class XVLAModel(nn.Module):
         proprio: torch.Tensor,
         action: torch.Tensor,
     ) -> dict[str, torch.Tensor]:
+        """
+        Forward pass for the XVLA model.
+        """
+        target_dtype = self._get_target_dtype()
+        image_input = image_input.to(dtype=target_dtype)
+        proprio = proprio.to(dtype=target_dtype)
+        action = action.to(dtype=target_dtype)
+
         enc = self.forward_vlm(input_ids, image_input, image_mask)
 
         batch_size = input_ids.shape[0]
         t = (
-            torch.rand(1, device=input_ids.device)
-            + torch.arange(batch_size, device=input_ids.device) / batch_size
+            torch.rand(1, device=input_ids.device, dtype=target_dtype)
+            + torch.arange(batch_size, device=input_ids.device, dtype=target_dtype) / batch_size
         ) % (1 - 1e-5)
 
         action_noisy = torch.randn_like(action) * t.view(-1, 1, 1) + action * (1 - t).view(-1, 1, 1)
@@ -215,17 +239,22 @@ class XVLAModel(nn.Module):
         steps: int,
     ) -> torch.Tensor:
         self.eval()
+
+        target_dtype = self._get_target_dtype()
+        image_input = image_input.to(dtype=target_dtype)
+        proprio = proprio.to(dtype=target_dtype)
+
         enc = self.forward_vlm(input_ids, image_input, image_mask)
 
         batch_size = input_ids.shape[0]
         action_dim = self.dim_action
 
-        x1 = torch.randn(batch_size, self.chunk_size, action_dim, device=proprio.device, dtype=proprio.dtype)
+        x1 = torch.randn(batch_size, self.chunk_size, action_dim, device=proprio.device, dtype=target_dtype)
         action = torch.zeros_like(x1)
 
         steps = max(1, int(steps))
         for i in range(steps, 0, -1):
-            t = torch.full((batch_size,), i / steps, device=proprio.device, dtype=proprio.dtype)
+            t = torch.full((batch_size,), i / steps, device=proprio.device, dtype=target_dtype)
             x_t = x1 * t.view(-1, 1, 1) + action * (1 - t).view(-1, 1, 1)
             proprio_m, x_t_m = self.action_space.preprocess(proprio, x_t)
             action = self.transformer(
@@ -258,8 +287,13 @@ class XVLAPolicy(PreTrainedPolicy):
         }
 
     def get_optim_params(self) -> dict:
-        """Return only trainable parameters for optimization."""
-        return filter(lambda p: p.requires_grad, self.parameters())
+        """Return trainable named parameters for optimization.
+
+        Returns a dict of name -> param for all trainable parameters.
+        This enables the xvla-adamw optimizer to apply differential learning rates
+        based on parameter names (e.g., 1/10 LR for VLM components).
+        """
+        return dict(filter(lambda kv: kv[1].requires_grad, self.named_parameters()))
 
     def _prepare_state(self, batch: dict[str, Tensor], batch_size: int, device: torch.device) -> Tensor:
         if not self.config.use_proprio or OBS_STATE not in batch:
@@ -349,17 +383,6 @@ class XVLAPolicy(PreTrainedPolicy):
             "proprio": proprio,
         }
 
-    def _trim_action_dim(self, actions: Tensor) -> Tensor:
-        feature = self.config.action_feature
-        if feature is None:
-            return actions
-        desired_dim = self.model.dim_action
-        if desired_dim == actions.shape[-1]:
-            return actions
-        if desired_dim < actions.shape[-1]:
-            return actions[..., :desired_dim]
-        return pad_vector(actions, desired_dim)
-
     def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
         inputs = self._build_model_inputs(batch)
         targets = self._prepare_action_targets(batch)
@@ -373,7 +396,6 @@ class XVLAPolicy(PreTrainedPolicy):
     def _get_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
         inputs = self._build_model_inputs(batch)
         actions = self.model.generate_actions(**inputs, steps=self.config.num_denoising_steps)
-        actions = self._trim_action_dim(actions)
         return actions
 
     @torch.no_grad()

src/lerobot/policies/xvla/processor_xvla.py

@@ -310,16 +310,19 @@ class XVLAImageToFloatProcessorStep(ProcessorStep):
             if key in obs and isinstance(obs[key], torch.Tensor):
                 tensor = obs[key]
 
+                min_val = tensor.min().item()
+                max_val = tensor.max().item()
+
+                if max_val <= 1.0:
+                    obs[key] = tensor.float()  # ensure float dtype, but no division
+                    continue
                 # Validate that values are in [0, 255] range if requested
-                if self.validate_range:
-                    min_val = tensor.min().item()
-                    max_val = tensor.max().item()
-                    if min_val < 0.0 or max_val > 255.0:
-                        raise ValueError(
-                            f"Image '{key}' has values outside [0, 255] range: "
-                            f"min={min_val:.4f}, max={max_val:.4f}. "
-                            f"Cannot convert to [0, 1] range."
-                        )
+                if self.validate_range and (min_val < 0.0 or max_val > 255.0):
+                    raise ValueError(
+                        f"Image '{key}' has values outside [0, 255] range: "
+                        f"min={min_val:.4f}, max={max_val:.4f}. "
+                        f"Cannot convert to [0, 1] range."
+                    )
 
                 # Convert to float and divide by 255
                 obs[key] = tensor.float() / 255.0

src/lerobot/robots/earthrover_mini_plus/__init__.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .config_earthrover_mini_plus import EarthRoverMiniPlusConfig
+from .robot_earthrover_mini_plus import EarthRoverMiniPlus
+
+__all__ = ["EarthRoverMiniPlus", "EarthRoverMiniPlusConfig"]

src/lerobot/robots/earthrover_mini_plus/config_earthrover_mini_plus.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""Configuration for EarthRover Mini Plus robot."""
+
+from dataclasses import dataclass
+
+from ..config import RobotConfig
+
+
+@RobotConfig.register_subclass("earthrover_mini_plus")
+@dataclass
+class EarthRoverMiniPlusConfig(RobotConfig):
+    """Configuration for EarthRover Mini Plus robot using Frodobots SDK.
+
+    This robot uses cloud-based control via the Frodobots SDK HTTP API.
+    Camera frames are accessed directly through SDK HTTP endpoints.
+
+    Attributes:
+        sdk_url: URL of the Frodobots SDK server (default: http://localhost:8000)
+    """
+
+    sdk_url: str = "http://localhost:8000"

src/lerobot/robots/earthrover_mini_plus/earthrover_mini_plus.mdx

@@ -0,0 +1 @@
+../../../../docs/source/earthrover_mini_plus.mdx

src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py

@@ -0,0 +1,473 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""EarthRover Mini Plus robot using Frodobots SDK."""
+
+import base64
+import logging
+from functools import cached_property
+from typing import Any
+
+import cv2
+import numpy as np
+import requests
+
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from ..robot import Robot
+from .config_earthrover_mini_plus import EarthRoverMiniPlusConfig
+
+logger = logging.getLogger(__name__)
+
+# Action feature keys
+ACTION_LINEAR_VEL = "linear.vel"
+ACTION_ANGULAR_VEL = "angular.vel"
+
+# Observation feature keys
+OBS_FRONT = "front"
+OBS_REAR = "rear"
+OBS_LINEAR_VEL = "linear.vel"
+OBS_BATTERY_LEVEL = "battery.level"
+OBS_ORIENTATION_DEG = "orientation.deg"
+OBS_GPS_LATITUDE = "gps.latitude"
+OBS_GPS_LONGITUDE = "gps.longitude"
+OBS_GPS_SIGNAL = "gps.signal"
+OBS_SIGNAL_LEVEL = "signal.level"
+OBS_VIBRATION = "vibration"
+OBS_LAMP_STATE = "lamp.state"
+
+
+class EarthRoverMiniPlus(Robot):
+    """
+    EarthRover Mini Plus robot controlled via Frodobots SDK HTTP API.
+
+    This robot uses cloud-based control through the Frodobots SDK instead of direct
+    hardware connection. Cameras stream via WebRTC through Agora cloud, and control
+    commands are sent via HTTP POST requests.
+
+    The robot supports:
+    - Dual cameras (front and rear) accessed via SDK HTTP endpoints
+    - Linear and angular velocity control
+    - Battery and orientation telemetry
+
+    Attributes:
+        config: Robot configuration
+        sdk_base_url: URL of the Frodobots SDK server (default: http://localhost:8000)
+    """
+
+    config_class = EarthRoverMiniPlusConfig
+    name = "earthrover_mini_plus"
+
+    def __init__(self, config: EarthRoverMiniPlusConfig):
+        """Initialize EarthRover Mini Plus robot.
+
+        Args:
+            config: Robot configuration including SDK URL
+        """
+        super().__init__(config)
+        self.config = config
+        self.sdk_base_url = "http://localhost:8000"
+
+        # Empty cameras dict for compatibility with recording script
+        # Cameras are accessed directly via SDK, not through Camera objects
+        self.cameras = {}
+        self._is_connected = False
+
+        # Cache for camera frames (fallback when requests fail)
+        self._last_front_frame = None
+        self._last_rear_frame = None
+
+        # Cache for robot telemetry data (fallback when requests fail)
+        self._last_robot_data = None
+
+        logger.info(f"Initialized {self.name} with SDK at {self.sdk_base_url}")
+
+    @property
+    def is_connected(self) -> bool:
+        """Check if robot is connected to SDK."""
+        return self._is_connected
+
+    def connect(self, calibrate: bool = True) -> None:
+        """Connect to robot via Frodobots SDK.
+
+        Args:
+            calibrate: Not used for SDK-based robot (kept for API compatibility)
+
+        Raises:
+            DeviceAlreadyConnectedError: If robot is already connected
+            DeviceNotConnectedError: If cannot connect to SDK server
+        """
+        if self._is_connected:
+            raise DeviceAlreadyConnectedError(f"{self.name} is already connected")
+
+        # Verify SDK is running and accessible
+        try:
+            response = requests.get(f"{self.sdk_base_url}/data", timeout=10.0)
+            if response.status_code != 200:
+                raise DeviceNotConnectedError(
+                    f"Cannot connect to SDK at {self.sdk_base_url}. "
+                    "Make sure it's running: hypercorn main:app --reload"
+                )
+        except requests.RequestException as e:
+            raise DeviceNotConnectedError(f"Cannot connect to SDK at {self.sdk_base_url}: {e}") from e
+
+        self._is_connected = True
+        logger.info(f"{self.name} connected to SDK")
+
+        if calibrate:
+            self.calibrate()
+
+    def calibrate(self) -> None:
+        """Calibration not needed for SDK-based robot."""
+        logger.info("Calibration not required for SDK-based robot")
+
+    @property
+    def is_calibrated(self) -> bool:
+        """SDK robot doesn't require calibration.
+
+        Returns:
+            bool: Always True for SDK-based robots
+        """
+        return True
+
+    def configure(self) -> None:
+        """Configure robot (no-op for SDK-based robot)."""
+        pass
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        """Define the observation space for dataset recording.
+
+        Returns:
+            dict: Observation features with types/shapes:
+                - front: (480, 640, 3) - Front camera RGB image
+                - rear: (480, 640, 3) - Rear camera RGB image
+                - linear.vel: float - Current speed (0-1, SDK reports only positive speeds)
+                - battery.level: float - Battery level (0-1, normalized from 0-100)
+                - orientation.deg: float - Robot orientation (0-1, normalized from raw value)
+                - gps.latitude: float - GPS latitude coordinate
+                - gps.longitude: float - GPS longitude coordinate
+                - gps.signal: float - GPS signal strength (0-1, normalized from percentage)
+                - signal.level: float - Network signal level (0-1, normalized from 0-5)
+                - vibration: float - Vibration sensor reading
+                - lamp.state: float - Lamp state (0=off, 1=on)
+        """
+        return {
+            # Cameras (height, width, channels)
+            OBS_FRONT: (480, 640, 3),
+            OBS_REAR: (480, 640, 3),
+            # Motion state
+            OBS_LINEAR_VEL: float,
+            # Robot state
+            OBS_BATTERY_LEVEL: float,
+            OBS_ORIENTATION_DEG: float,
+            # GPS
+            OBS_GPS_LATITUDE: float,
+            OBS_GPS_LONGITUDE: float,
+            OBS_GPS_SIGNAL: float,
+            # Sensors
+            OBS_SIGNAL_LEVEL: float,
+            OBS_VIBRATION: float,
+            OBS_LAMP_STATE: float,
+        }
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        """Define the action space.
+
+        Returns:
+            dict: Action features with types:
+                - linear.vel: float - Target linear velocity
+                - angular.vel: float - Target angular velocity
+        """
+        return {
+            ACTION_LINEAR_VEL: float,
+            ACTION_ANGULAR_VEL: float,
+        }
+
+    def get_observation(self) -> dict[str, Any]:
+        """Get current robot observation from SDK.
+
+        Returns:
+            dict: Observation containing:
+                - front: Front camera image (480, 640, 3) in RGB format
+                - rear: Rear camera image (480, 640, 3) in RGB format
+                - linear.vel: Current speed (0-1, SDK reports only positive speeds)
+                - battery.level: Battery level (0-1, normalized from 0-100)
+                - orientation.deg: Robot orientation (0-1, normalized from raw value)
+                - gps.latitude: GPS latitude coordinate
+                - gps.longitude: GPS longitude coordinate
+                - gps.signal: GPS signal strength (0-1, normalized from percentage)
+                - signal.level: Network signal level (0-1, normalized from 0-5)
+                - vibration: Vibration sensor reading
+                - lamp.state: Lamp state (0=off, 1=on)
+
+        Raises:
+            DeviceNotConnectedError: If robot is not connected
+
+        Note:
+            Camera frames are retrieved from SDK endpoints /v2/front and /v2/rear.
+            Frames are decoded from base64 and converted from BGR to RGB format.
+            Robot telemetry is retrieved from /data endpoint.
+            All SDK values are normalized to appropriate ranges for dataset recording.
+        """
+        if not self._is_connected:
+            raise DeviceNotConnectedError(f"{self.name} is not connected")
+
+        observation = {}
+
+        # Get camera images from SDK
+        frames = self._get_camera_frames()
+        observation[OBS_FRONT] = frames["front"]
+        observation[OBS_REAR] = frames["rear"]
+
+        # Get robot state from SDK
+        robot_data = self._get_robot_data()
+
+        # Motion state
+        observation[OBS_LINEAR_VEL] = robot_data["speed"] / 100.0  # Normalize 0-100 to 0-1
+
+        # Robot state
+        observation[OBS_BATTERY_LEVEL] = robot_data["battery"] / 100.0  # Normalize 0-100 to 0-1
+        observation[OBS_ORIENTATION_DEG] = robot_data["orientation"] / 360.0  # Normalize to 0-1
+
+        # GPS data
+        observation[OBS_GPS_LATITUDE] = robot_data["latitude"]
+        observation[OBS_GPS_LONGITUDE] = robot_data["longitude"]
+        observation[OBS_GPS_SIGNAL] = robot_data["gps_signal"] / 100.0  # Normalize percentage to 0-1
+
+        # Sensors
+        observation[OBS_SIGNAL_LEVEL] = robot_data["signal_level"] / 5.0  # Normalize 0-5 to 0-1
+        observation[OBS_VIBRATION] = robot_data["vibration"]
+        observation[OBS_LAMP_STATE] = float(robot_data["lamp"])  # 0 or 1
+
+        return observation
+
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+        """Send action to robot via SDK.
+
+        Args:
+            action: Action dict with keys:
+                - linear.vel: Target linear velocity (-1 to 1)
+                - angular.vel: Target angular velocity (-1 to 1)
+
+        Returns:
+            dict: The action that was sent (matches action_features keys)
+
+        Raises:
+            DeviceNotConnectedError: If robot is not connected
+
+        Note:
+            Actions are sent to SDK via POST /control endpoint.
+            SDK expects commands in range [-1, 1].
+        """
+        if not self._is_connected:
+            raise DeviceNotConnectedError(f"{self.name} is not connected")
+
+        # Extract action values and convert to float
+        linear = float(action.get(ACTION_LINEAR_VEL, 0.0))
+        angular = float(action.get(ACTION_ANGULAR_VEL, 0.0))
+
+        # Send command to SDK
+        try:
+            self._send_command_to_sdk(linear, angular)
+        except Exception as e:
+            logger.error(f"Error sending action: {e}")
+
+        # Return action in format matching action_features
+        return {
+            ACTION_LINEAR_VEL: linear,
+            ACTION_ANGULAR_VEL: angular,
+        }
+
+    def disconnect(self) -> None:
+        """Disconnect from robot.
+
+        Stops the robot and closes connection to SDK.
+
+        Raises:
+            DeviceNotConnectedError: If robot is not connected
+        """
+        if not self._is_connected:
+            raise DeviceNotConnectedError(f"{self.name} is not connected")
+
+        # Stop the robot before disconnecting
+        try:
+            self._send_command_to_sdk(0.0, 0.0)
+        except Exception as e:
+            logger.warning(f"Failed to stop robot during disconnect: {e}")
+
+        self._is_connected = False
+        logger.info(f"{self.name} disconnected")
+
+    # Private helper methods for SDK communication
+
+    def _get_camera_frames(self) -> dict[str, np.ndarray]:
+        """Get camera frames from SDK using v2 endpoints with caching fallback.
+
+        Returns:
+            dict: Dictionary with 'front' and 'rear' keys containing:
+                - Current frame (if request succeeds)
+                - Cached frame (if request fails but cache exists)
+                - Zero array (if request fails and no cache exists yet)
+
+        Note:
+            Uses /v2/front and /v2/rear endpoints which are 15x faster than /screenshot.
+            Images are base64 encoded, resized to 640x480, and converted from BGR to RGB.
+            If request fails, returns the last successfully retrieved frame (cached).
+        """
+        frames = {}
+
+        # Get front camera
+        try:
+            response = requests.get(f"{self.sdk_base_url}/v2/front", timeout=2.0)
+            if response.status_code == 200:
+                data = response.json()
+                if "front_frame" in data and data["front_frame"]:
+                    front_img = self._decode_base64_image(data["front_frame"])
+                    if front_img is not None:
+                        # Resize and convert BGR to RGB
+                        front_img = cv2.resize(front_img, (640, 480))
+                        front_rgb = cv2.cvtColor(front_img, cv2.COLOR_BGR2RGB)
+                        frames["front"] = front_rgb
+                        # Cache the successful frame
+                        self._last_front_frame = front_rgb
+        except Exception as e:
+            logger.warning(f"Error fetching front camera: {e}")
+
+        # Fallback: use cache or zero array
+        if "front" not in frames:
+            if self._last_front_frame is not None:
+                frames["front"] = self._last_front_frame
+            else:
+                frames["front"] = np.zeros((480, 640, 3), dtype=np.uint8)
+
+        # Get rear camera
+        try:
+            response = requests.get(f"{self.sdk_base_url}/v2/rear", timeout=2.0)
+            if response.status_code == 200:
+                data = response.json()
+                if "rear_frame" in data and data["rear_frame"]:
+                    rear_img = self._decode_base64_image(data["rear_frame"])
+                    if rear_img is not None:
+                        # Resize and convert BGR to RGB
+                        rear_img = cv2.resize(rear_img, (640, 480))
+                        rear_rgb = cv2.cvtColor(rear_img, cv2.COLOR_BGR2RGB)
+                        frames["rear"] = rear_rgb
+                        # Cache the successful frame
+                        self._last_rear_frame = rear_rgb
+        except Exception as e:
+            logger.warning(f"Error fetching rear camera: {e}")
+
+        # Fallback: use cache or zero array
+        if "rear" not in frames:
+            if self._last_rear_frame is not None:
+                frames["rear"] = self._last_rear_frame
+            else:
+                frames["rear"] = np.zeros((480, 640, 3), dtype=np.uint8)
+
+        return frames
+
+    def _decode_base64_image(self, base64_string: str) -> np.ndarray | None:
+        """Decode base64 string to image.
+
+        Args:
+            base64_string: Base64 encoded image string
+
+        Returns:
+            np.ndarray: Decoded image in BGR format (OpenCV default), or None if decoding fails
+        """
+        try:
+            img_bytes = base64.b64decode(base64_string)
+            nparr = np.frombuffer(img_bytes, np.uint8)
+            img = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+            return img  # Return in BGR format (OpenCV default)
+        except Exception as e:
+            logger.error(f"Error decoding image: {e}")
+            return None
+
+    def _get_robot_data(self) -> dict:
+        """Get robot telemetry data from SDK.
+
+        Returns:
+            dict: Robot telemetry data including battery, speed, orientation, GPS, etc:
+                - Current data (if request succeeds)
+                - Cached data (if request fails but cache exists)
+                - Default values (if request fails and no cache exists yet)
+
+        Note:
+            Uses /data endpoint which provides comprehensive robot state.
+            If request fails, returns the last successfully retrieved data (cached).
+        """
+        try:
+            response = requests.get(f"{self.sdk_base_url}/data", timeout=2.0)
+            if response.status_code == 200:
+                data = response.json()
+                # Cache the successful data
+                self._last_robot_data = data
+                return data
+        except Exception as e:
+            logger.warning(f"Error fetching robot data: {e}")
+
+        # Fallback: use cache or default values
+        if self._last_robot_data is not None:
+            return self._last_robot_data
+        else:
+            # Return dict with default values (used only on first failure before any cache exists)
+            return {
+                "speed": 0,
+                "battery": 0,
+                "orientation": 0,
+                "latitude": 0.0,
+                "longitude": 0.0,
+                "gps_signal": 0,
+                "signal_level": 0,
+                "vibration": 0.0,
+                "lamp": 0,
+            }
+
+    def _send_command_to_sdk(self, linear: float, angular: float, lamp: int = 0) -> bool:
+        """Send control command to SDK.
+
+        Args:
+            linear: Linear velocity command (-1 to 1)
+            angular: Angular velocity command (-1 to 1)
+            lamp: Lamp control (0=off, 1=on)
+
+        Returns:
+            bool: True if command sent successfully, False otherwise
+
+        Note:
+            Uses POST /control endpoint. Commands are sent as JSON payload.
+        """
+        try:
+            payload = {
+                "command": {
+                    "linear": linear,
+                    "angular": angular,
+                    "lamp": lamp,
+                }
+            }
+
+            response = requests.post(
+                f"{self.sdk_base_url}/control",
+                json=payload,
+                timeout=1.0,
+            )
+
+            return response.status_code == 200
+        except Exception as e:
+            logger.error(f"Error sending command: {e}")
+            return False

src/lerobot/robots/omx_follower/__init__.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# OMX is a fully open-source robot from ROBOTIS.
+# More information at: https://ai.robotis.com/omx/introduction_omx.html
+
+from .config_omx_follower import OmxFollowerConfig
+from .omx_follower import OmxFollower

src/lerobot/robots/omx_follower/config_omx_follower.py

@@ -0,0 +1,39 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.cameras import CameraConfig
+
+from ..config import RobotConfig
+
+
+@RobotConfig.register_subclass("omx_follower")
+@dataclass
+class OmxFollowerConfig(RobotConfig):
+    # Port to connect to the arm
+    port: str
+
+    disable_torque_on_disconnect: bool = True
+
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
+    # names to the max_relative_target value for that motor.
+    max_relative_target: float | dict[str, float] | None = None
+
+    # cameras
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+    # Set to `True` for backward compatibility with previous policies/dataset
+    use_degrees: bool = False

src/lerobot/robots/omx_follower/omx_follower.py

@@ -0,0 +1,225 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+from functools import cached_property
+from typing import Any
+
+from lerobot.cameras.utils import make_cameras_from_configs
+from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.dynamixel import (
+    DriveMode,
+    DynamixelMotorsBus,
+    OperatingMode,
+)
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from ..robot import Robot
+from ..utils import ensure_safe_goal_position
+from .config_omx_follower import OmxFollowerConfig
+
+logger = logging.getLogger(__name__)
+
+
+class OmxFollower(Robot):
+    """
+    - [OMX](https://github.com/ROBOTIS-GIT/open_manipulator),
+        expansion, developed by Woojin Wie and Junha Cha from [ROBOTIS](https://ai.robotis.com/)
+    """
+
+    config_class = OmxFollowerConfig
+    name = "omx_follower"
+
+    def __init__(self, config: OmxFollowerConfig):
+        super().__init__(config)
+        self.config = config
+        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
+        self.bus = DynamixelMotorsBus(
+            port=self.config.port,
+            motors={
+                "shoulder_pan": Motor(11, "xl430-w250", norm_mode_body),
+                "shoulder_lift": Motor(12, "xl430-w250", norm_mode_body),
+                "elbow_flex": Motor(13, "xl430-w250", norm_mode_body),
+                "wrist_flex": Motor(14, "xl330-m288", norm_mode_body),
+                "wrist_roll": Motor(15, "xl330-m288", norm_mode_body),
+                "gripper": Motor(16, "xl330-m288", MotorNormMode.RANGE_0_100),
+            },
+            calibration=self.calibration,
+        )
+        self.cameras = make_cameras_from_configs(config.cameras)
+
+    @property
+    def _motors_ft(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.bus.motors}
+
+    @property
+    def _cameras_ft(self) -> dict[str, tuple]:
+        return {
+            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+        }
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        return {**self._motors_ft, **self._cameras_ft}
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        return self._motors_ft
+
+    @property
+    def is_connected(self) -> bool:
+        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
+
+    def connect(self, calibrate: bool = True) -> None:
+        """
+        For OMX robots that come pre-calibrated:
+        - If default calibration from package doesn't match motors, read from motors and save
+        - This allows using pre-calibrated robots without manual calibration
+        - If no calibration file exists, use factory default values (homing_offset=0, range_min=0, range_max=4095)
+        """
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+        self.bus.connect()
+        if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
+            self.calibrate()
+
+        for cam in self.cameras.values():
+            cam.connect()
+
+        self.configure()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return self.bus.is_calibrated
+
+    def calibrate(self) -> None:
+        self.bus.disable_torque()
+        logger.info(f"\nUsing factory default calibration values for {self}")
+        logger.info(f"\nWriting default configuration of {self} to the motors")
+        for motor in self.bus.motors:
+            self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+        for motor in self.bus.motors:
+            self.bus.write("Drive_Mode", motor, DriveMode.NON_INVERTED.value)
+
+        self.calibration = {}
+        for motor, m in self.bus.motors.items():
+            self.calibration[motor] = MotorCalibration(
+                id=m.id,
+                drive_mode=0,
+                homing_offset=0,
+                range_min=0,
+                range_max=4095,
+            )
+
+        self.bus.write_calibration(self.calibration)
+        self._save_calibration()
+        logger.info(f"Calibration saved to {self.calibration_fpath}")
+
+    def configure(self) -> None:
+        with self.bus.torque_disabled():
+            self.bus.configure_motors()
+            # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
+            # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling
+            # the arm, you could end up with a servo with a position 0 or 4095 at a crucial point
+            for motor in self.bus.motors:
+                if motor != "gripper":
+                    self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+            # Use 'position control current based' for gripper to be limited by the limit of the current. For
+            # the follower gripper, it means it can grasp an object without forcing too much even tho, its
+            # goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
+            # For the leader gripper, it means we can use it as a physical trigger, since we can force with
+            # our finger to make it move, and it will move back to its original target position when we
+            # release the force.
+            self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
+
+            # Set better PID values to close the gap between recorded states and actions
+            # TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
+            self.bus.write("Position_P_Gain", "elbow_flex", 1500)
+            self.bus.write("Position_I_Gain", "elbow_flex", 0)
+            self.bus.write("Position_D_Gain", "elbow_flex", 600)
+
+    def setup_motors(self) -> None:
+        for motor in reversed(self.bus.motors):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
+    def get_observation(self) -> dict[str, Any]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        # Read arm position
+        start = time.perf_counter()
+        obs_dict = self.bus.sync_read("Present_Position")
+        obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read state: {dt_ms:.1f}ms")
+
+        # Capture images from cameras
+        for cam_key, cam in self.cameras.items():
+            start = time.perf_counter()
+            obs_dict[cam_key] = cam.async_read()
+            dt_ms = (time.perf_counter() - start) * 1e3
+            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
+
+        return obs_dict
+
+    def send_action(self, action: dict[str, float]) -> dict[str, float]:
+        """Command arm to move to a target joint configuration.
+
+        The relative action magnitude may be clipped depending on the configuration parameter
+        `max_relative_target`. In this case, the action sent differs from original action.
+        Thus, this function always returns the action actually sent.
+
+        Args:
+            action (dict[str, float]): The goal positions for the motors.
+
+        Returns:
+            dict[str, float]: The action sent to the motors, potentially clipped.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
+
+        # Cap goal position when too far away from present position.
+        # /!\ Slower fps expected due to reading from the follower.
+        if self.config.max_relative_target is not None:
+            present_pos = self.bus.sync_read("Present_Position")
+            goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
+            goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
+
+        # Send goal position to the arm
+        self.bus.sync_write("Goal_Position", goal_pos)
+        return {f"{motor}.pos": val for motor, val in goal_pos.items()}
+
+    def disconnect(self):
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        self.bus.disconnect(self.config.disable_torque_on_disconnect)
+        for cam in self.cameras.values():
+            cam.disconnect()
+
+        logger.info(f"{self} disconnected.")

src/lerobot/robots/unitree_g1/__init__.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .config_unitree_g1 import UnitreeG1Config
+from .unitree_g1 import UnitreeG1

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.cameras import CameraConfig
+
+from ..config import RobotConfig
+
+_GAINS: dict[str, dict[str, list[float]]] = {
+    "left_leg": {
+        "kp": [150, 150, 150, 300, 40, 40],
+        "kd": [2, 2, 2, 4, 2, 2],
+    },  # pitch, roll, yaw, knee, ankle_pitch, ankle_roll
+    "right_leg": {"kp": [150, 150, 150, 300, 40, 40], "kd": [2, 2, 2, 4, 2, 2]},
+    "waist": {"kp": [250, 250, 250], "kd": [5, 5, 5]},  # yaw, roll, pitch
+    "left_arm": {"kp": [80, 80, 80, 80], "kd": [3, 3, 3, 3]},  # shoulder_pitch/roll/yaw, elbow
+    "left_wrist": {"kp": [40, 40, 40], "kd": [1.5, 1.5, 1.5]},  # roll, pitch, yaw
+    "right_arm": {"kp": [80, 80, 80, 80], "kd": [3, 3, 3, 3]},
+    "right_wrist": {"kp": [40, 40, 40], "kd": [1.5, 1.5, 1.5]},
+    "other": {"kp": [80, 80, 80, 80, 80, 80], "kd": [3, 3, 3, 3, 3, 3]},
+}
+
+
+def _build_gains() -> tuple[list[float], list[float]]:
+    """Build kp and kd lists from body-part groupings."""
+    kp = [v for g in _GAINS.values() for v in g["kp"]]
+    kd = [v for g in _GAINS.values() for v in g["kd"]]
+    return kp, kd
+
+
+_DEFAULT_KP, _DEFAULT_KD = _build_gains()
+
+
+@RobotConfig.register_subclass("unitree_g1")
+@dataclass
+class UnitreeG1Config(RobotConfig):
+    kp: list[float] = field(default_factory=lambda: _DEFAULT_KP.copy())
+    kd: list[float] = field(default_factory=lambda: _DEFAULT_KD.copy())
+
+    control_dt: float = 1.0 / 250.0  # 250Hz
+
+    # launch mujoco simulation
+    is_simulation: bool = False
+
+    # socket config for ZMQ bridge
+    robot_ip: str = "172.18.129.215"
+
+    # cameras (optional)
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/unitree_g1/g1_utils.py

@@ -0,0 +1,89 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from enum import IntEnum
+
+# ruff: noqa: N801, N815
+
+NUM_MOTORS = 35
+
+
+class G1_29_JointArmIndex(IntEnum):
+    # Left arm
+    kLeftShoulderPitch = 15
+    kLeftShoulderRoll = 16
+    kLeftShoulderYaw = 17
+    kLeftElbow = 18
+    kLeftWristRoll = 19
+    kLeftWristPitch = 20
+    kLeftWristyaw = 21
+
+    # Right arm
+    kRightShoulderPitch = 22
+    kRightShoulderRoll = 23
+    kRightShoulderYaw = 24
+    kRightElbow = 25
+    kRightWristRoll = 26
+    kRightWristPitch = 27
+    kRightWristYaw = 28
+
+
+class G1_29_JointIndex(IntEnum):
+    # Left leg
+    kLeftHipPitch = 0
+    kLeftHipRoll = 1
+    kLeftHipYaw = 2
+    kLeftKnee = 3
+    kLeftAnklePitch = 4
+    kLeftAnkleRoll = 5
+
+    # Right leg
+    kRightHipPitch = 6
+    kRightHipRoll = 7
+    kRightHipYaw = 8
+    kRightKnee = 9
+    kRightAnklePitch = 10
+    kRightAnkleRoll = 11
+
+    kWaistYaw = 12
+    kWaistRoll = 13
+    kWaistPitch = 14
+
+    # Left arm
+    kLeftShoulderPitch = 15
+    kLeftShoulderRoll = 16
+    kLeftShoulderYaw = 17
+    kLeftElbow = 18
+    kLeftWristRoll = 19
+    kLeftWristPitch = 20
+    kLeftWristyaw = 21
+
+    # Right arm
+    kRightShoulderPitch = 22
+    kRightShoulderRoll = 23
+    kRightShoulderYaw = 24
+    kRightElbow = 25
+    kRightWristRoll = 26
+    kRightWristPitch = 27
+    kRightWristYaw = 28
+
+    # not used
+    kNotUsedJoint0 = 29
+    kNotUsedJoint1 = 30
+    kNotUsedJoint2 = 31
+    kNotUsedJoint3 = 32
+    kNotUsedJoint4 = 33
+    kNotUsedJoint5 = 34

src/lerobot/robots/unitree_g1/keyboard_control.py

@@ -0,0 +1,302 @@
+#!/usr/bin/env python
+"""
+Standalone keyboard control script for Unitree G1 robot.
+
+This script provides keyboard-based velocity control for the G1 robot's
+locomotion system. It can be run alongside the main robot control to
+provide manual movement commands.
+
+Usage:
+    python keyboard_control.py [--robot-ip IP] [--simulation]
+
+Controls:
+    W/S: Forward/Backward
+    A/D: Strafe Left/Right  
+    Q/E: Rotate Left/Right
+    R/F: Raise/Lower Height (GR00T policies only)
+    Z: Stop (zero all velocity commands)
+    ESC/Ctrl+C: Exit
+"""
+
+import argparse
+import sys
+import select
+import time
+import numpy as np
+
+# Terminal handling for non-blocking keyboard input
+try:
+    import termios
+    import tty
+    HAS_TERMIOS = True
+except ImportError:
+    HAS_TERMIOS = False
+    print("Warning: termios not available. Keyboard controls require Linux/macOS.")
+
+
+class KeyboardController:
+    """Handles keyboard input and converts to locomotion commands."""
+    
+    def __init__(self, callback=None):
+        """
+        Initialize keyboard controller.
+        
+        Args:
+            callback: Optional function called when commands change.
+                      Signature: callback(vx, vy, yaw, height)
+        """
+        self.callback = callback
+        self.running = False
+        
+        # Locomotion commands
+        self.vx = 0.0      # Forward/backward velocity
+        self.vy = 0.0      # Left/right velocity (strafe)
+        self.yaw = 0.0     # Rotation rate
+        self.height = 0.74  # Base height (for GR00T policies)
+        
+        # Command limits
+        self.vx_limit = (-0.8, 0.8)
+        self.vy_limit = (-0.5, 0.5)
+        self.yaw_limit = (-1.0, 1.0)
+        self.height_limit = (0.50, 1.00)
+        
+        # Increments per keypress
+        self.vx_increment = 0.4
+        self.vy_increment = 0.25
+        self.yaw_increment = 0.5
+        self.height_increment = 0.05
+        
+        self._old_terminal_settings = None
+    
+    def get_commands(self) -> tuple[float, float, float, float]:
+        """Get current command values as tuple (vx, vy, yaw, height)."""
+        return (self.vx, self.vy, self.yaw, self.height)
+    
+    def get_commands_array(self) -> np.ndarray:
+        """Get velocity commands as numpy array [vx, vy, yaw]."""
+        return np.array([self.vx, self.vy, self.yaw], dtype=np.float32)
+    
+    def reset_commands(self):
+        """Reset all commands to zero (stop)."""
+        self.vx = 0.0
+        self.vy = 0.0
+        self.yaw = 0.0
+        self._notify_callback()
+    
+    def _clamp(self, value: float, limits: tuple[float, float]) -> float:
+        """Clamp value to limits."""
+        return max(limits[0], min(limits[1], value))
+    
+    def _notify_callback(self):
+        """Call callback with current commands if set."""
+        if self.callback:
+            self.callback(self.vx, self.vy, self.yaw, self.height)
+    
+    def process_key(self, key: str) -> bool:
+        """
+        Process a single key press and update commands.
+        
+        Args:
+            key: Single character key that was pressed.
+            
+        Returns:
+            True if key was handled, False otherwise.
+        """
+        key = key.lower()
+        handled = True
+        
+        if key == 'w':
+            self.vx = self._clamp(self.vx + self.vx_increment, self.vx_limit)
+        elif key == 's':
+            self.vx = self._clamp(self.vx - self.vx_increment, self.vx_limit)
+        elif key == 'a':
+            self.vy = self._clamp(self.vy + self.vy_increment, self.vy_limit)
+        elif key == 'd':
+            self.vy = self._clamp(self.vy - self.vy_increment, self.vy_limit)
+        elif key == 'q':
+            self.yaw = self._clamp(self.yaw + self.yaw_increment, self.yaw_limit)
+        elif key == 'e':
+            self.yaw = self._clamp(self.yaw - self.yaw_increment, self.yaw_limit)
+        elif key == 'r':
+            self.height = self._clamp(self.height + self.height_increment, self.height_limit)
+        elif key == 'f':
+            self.height = self._clamp(self.height - self.height_increment, self.height_limit)
+        elif key == 'z':
+            self.reset_commands()
+            return True  # Already notified in reset_commands
+        else:
+            handled = False
+        
+        if handled:
+            self._notify_callback()
+        
+        return handled
+    
+    def _setup_terminal(self):
+        """Set terminal to raw mode for single character input."""
+        if HAS_TERMIOS:
+            self._old_terminal_settings = termios.tcgetattr(sys.stdin)
+            tty.setcbreak(sys.stdin.fileno())
+    
+    def _restore_terminal(self):
+        """Restore terminal to original settings."""
+        if HAS_TERMIOS and self._old_terminal_settings is not None:
+            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self._old_terminal_settings)
+            self._old_terminal_settings = None
+    
+    def run(self):
+        """Run the keyboard listener loop (blocking)."""
+        if not HAS_TERMIOS:
+            print("Error: Keyboard controls require termios (Linux/macOS)")
+            return
+        
+        self.running = True
+        self._print_controls()
+        
+        try:
+            self._setup_terminal()
+            
+            while self.running:
+                # Check for keyboard input with timeout
+                if select.select([sys.stdin], [], [], 0.1)[0]:
+                    key = sys.stdin.read(1)
+                    
+                    # Handle escape sequences (arrow keys, etc.)
+                    if key == '\x1b':  # ESC
+                        self.running = False
+                        break
+                    
+                    if self.process_key(key):
+                        self._print_status()
+        
+        except KeyboardInterrupt:
+            print("\nInterrupted by user")
+        finally:
+            self._restore_terminal()
+            print("\nKeyboard controls stopped")
+    
+    def stop(self):
+        """Stop the keyboard listener."""
+        self.running = False
+    
+    def _print_controls(self):
+        """Print control instructions."""
+        print("\n" + "=" * 60)
+        print("KEYBOARD CONTROLS ACTIVE")
+        print("=" * 60)
+        print("  W/S: Forward/Backward")
+        print("  A/D: Strafe Left/Right")
+        print("  Q/E: Rotate Left/Right")
+        print("  R/F: Raise/Lower Height (±5cm)")
+        print("  Z: Stop (zero all commands)")
+        print("  ESC: Exit")
+        print("=" * 60 + "\n")
+    
+    def _print_status(self):
+        """Print current command status."""
+        print(f"[CMD] vx={self.vx:+.2f}, vy={self.vy:+.2f}, yaw={self.yaw:+.2f} | height={self.height:.3f}m")
+
+
+class RobotKeyboardController(KeyboardController):
+    """Keyboard controller that directly updates a robot's locomotion commands."""
+    
+    def __init__(self, robot):
+        """
+        Initialize with a UnitreeG1 robot instance.
+        
+        Args:
+            robot: UnitreeG1 robot instance with locomotion_cmd attribute.
+        """
+        super().__init__()
+        self.robot = robot
+        
+        # Initialize from robot's current state if available
+        if hasattr(robot, 'locomotion_cmd'):
+            self.vx = robot.locomotion_cmd[0]
+            self.vy = robot.locomotion_cmd[1]
+            self.yaw = robot.locomotion_cmd[2]
+        
+        if hasattr(robot, 'groot_height_cmd'):
+            self.height = robot.groot_height_cmd
+    
+    def _notify_callback(self):
+        """Update robot's locomotion commands directly."""
+        if hasattr(self.robot, 'locomotion_cmd'):
+            self.robot.locomotion_cmd[0] = self.vx
+            self.robot.locomotion_cmd[1] = self.vy
+            self.robot.locomotion_cmd[2] = self.yaw
+        
+        if hasattr(self.robot, 'groot_height_cmd'):
+            self.robot.groot_height_cmd = self.height
+
+
+def start_keyboard_control_thread(robot) -> tuple:
+    """
+    Start keyboard controls for a robot in a background thread.
+    
+    Args:
+        robot: UnitreeG1 robot instance.
+        
+    Returns:
+        Tuple of (controller, thread) for later stopping.
+    """
+    import threading
+    
+    controller = RobotKeyboardController(robot)
+    thread = threading.Thread(target=controller.run, daemon=True)
+    thread.start()
+    
+    return controller, thread
+
+
+def stop_keyboard_control_thread(controller, thread, timeout: float = 2.0):
+    """
+    Stop the keyboard control thread.
+    
+    Args:
+        controller: KeyboardController instance.
+        thread: Thread running the controller.
+        timeout: Max time to wait for thread to stop.
+    """
+    controller.stop()
+    thread.join(timeout=timeout)
+
+
+def main():
+    """Standalone keyboard control with optional robot connection."""
+    parser = argparse.ArgumentParser(description="Keyboard control for Unitree G1")
+    parser.add_argument("--standalone", action="store_true",
+                        help="Run in standalone mode (just print commands, no robot)")
+    args = parser.parse_args()
+    
+    if args.standalone:
+        # Standalone mode - just demonstrate keyboard input
+        def print_callback(vx, vy, yaw, height):
+            print(f"  → Would send: vx={vx:+.2f}, vy={vy:+.2f}, yaw={yaw:+.2f}, height={height:.3f}")
+        
+        controller = KeyboardController(callback=print_callback)
+        print("Running in STANDALONE mode (no robot connection)")
+        controller.run()
+    else:
+        print("To use with a robot, import and use RobotKeyboardController:")
+        print("")
+        print("  from lerobot.robots.unitree_g1.keyboard_control import (")
+        print("      RobotKeyboardController,")
+        print("      start_keyboard_control_thread,")
+        print("      stop_keyboard_control_thread")
+        print("  )")
+        print("")
+        print("  # Start keyboard controls")
+        print("  controller, thread = start_keyboard_control_thread(robot)")
+        print("")
+        print("  # ... robot runs ...")
+        print("")
+        print("  # Stop keyboard controls")
+        print("  stop_keyboard_control_thread(controller, thread)")
+        print("")
+        print("Or run with --standalone to test keyboard input without a robot.")
+
+
+if __name__ == "__main__":
+    main()
+

src/lerobot/robots/unitree_g1/run_g1_server.py

@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+DDS-to-ZMQ bridge server for Unitree G1 robot.
+
+This server runs on the robot and forwards:
+- Robot state (LowState) from DDS to ZMQ (for remote clients)
+- Robot commands (LowCmd) from ZMQ to DDS (from remote clients)
+
+Uses JSON for secure serialization instead of pickle.
+"""
+
+import base64
+import contextlib
+import json
+import threading
+import time
+from typing import Any
+
+import zmq
+from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize, ChannelPublisher, ChannelSubscriber
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as hg_LowCmd, LowState_ as hg_LowState
+from unitree_sdk2py.utils.crc import CRC
+
+# DDS topic names follow Unitree SDK naming conventions
+# ruff: noqa: N816
+kTopicLowCommand_Debug = "rt/lowcmd"  # action to robot
+kTopicLowState = "rt/lowstate"  # observation from robot
+
+LOWCMD_PORT = 6000
+LOWSTATE_PORT = 6001
+NUM_MOTORS = 35
+
+
+def lowstate_to_dict(msg: hg_LowState) -> dict[str, Any]:
+    """Convert LowState SDK message to a JSON-serializable dictionary."""
+    motor_states = []
+    for i in range(NUM_MOTORS):
+        temp = msg.motor_state[i].temperature
+        avg_temp = float(sum(temp) / len(temp)) if isinstance(temp, list) else float(temp)
+        motor_states.append(
+            {
+                "q": float(msg.motor_state[i].q),
+                "dq": float(msg.motor_state[i].dq),
+                "tau_est": float(msg.motor_state[i].tau_est),
+                "temperature": avg_temp,
+            }
+        )
+
+    return {
+        "motor_state": motor_states,
+        "imu_state": {
+            "quaternion": [float(x) for x in msg.imu_state.quaternion],
+            "gyroscope": [float(x) for x in msg.imu_state.gyroscope],
+            "accelerometer": [float(x) for x in msg.imu_state.accelerometer],
+            "rpy": [float(x) for x in msg.imu_state.rpy],
+            "temperature": float(msg.imu_state.temperature),
+        },
+        # Encode bytes as base64 for JSON compatibility
+        "wireless_remote": base64.b64encode(bytes(msg.wireless_remote)).decode("ascii"),
+        "mode_machine": int(msg.mode_machine),
+    }
+
+
+def dict_to_lowcmd(data: dict[str, Any]) -> hg_LowCmd:
+    """Convert dictionary back to LowCmd SDK message."""
+    cmd = unitree_hg_msg_dds__LowCmd_()
+    cmd.mode_pr = data.get("mode_pr", 0)
+    cmd.mode_machine = data.get("mode_machine", 0)
+
+    for i, motor_data in enumerate(data.get("motor_cmd", [])):
+        cmd.motor_cmd[i].mode = motor_data.get("mode", 0)
+        cmd.motor_cmd[i].q = motor_data.get("q", 0.0)
+        cmd.motor_cmd[i].dq = motor_data.get("dq", 0.0)
+        cmd.motor_cmd[i].kp = motor_data.get("kp", 0.0)
+        cmd.motor_cmd[i].kd = motor_data.get("kd", 0.0)
+        cmd.motor_cmd[i].tau = motor_data.get("tau", 0.0)
+
+    return cmd
+
+
+def state_forward_loop(
+    lowstate_sub: ChannelSubscriber,
+    lowstate_sock: zmq.Socket,
+    state_period: float,
+    shutdown_event: threading.Event,
+) -> None:
+    """Read observation from DDS and forward to ZMQ clients."""
+    last_state_time = 0.0
+
+    while not shutdown_event.is_set():
+        # read from DDS
+        msg = lowstate_sub.Read()
+        if msg is None:
+            continue
+
+        now = time.time()
+        # optional downsampling (if robot dds rate > state_period)
+        if now - last_state_time >= state_period:
+            # Convert to dict and serialize with JSON
+            state_dict = lowstate_to_dict(msg)
+            payload = json.dumps({"topic": kTopicLowState, "data": state_dict}).encode("utf-8")
+            # if no subscribers / tx buffer full, just drop
+            with contextlib.suppress(zmq.Again):
+                lowstate_sock.send(payload, zmq.NOBLOCK)
+            last_state_time = now
+
+
+def cmd_forward_loop(
+    lowcmd_sock: zmq.Socket,
+    lowcmd_pub_debug: ChannelPublisher,
+    crc: CRC,
+) -> None:
+    """Receive commands from ZMQ and forward to DDS."""
+    while True:
+        try:
+            payload = lowcmd_sock.recv()
+        except zmq.ContextTerminated:
+            break
+        msg_dict = json.loads(payload.decode("utf-8"))
+
+        topic = msg_dict.get("topic", "")
+        cmd_data = msg_dict.get("data", {})
+
+        # Reconstruct LowCmd object from dict
+        cmd = dict_to_lowcmd(cmd_data)
+
+        # recompute crc
+        cmd.crc = crc.Crc(cmd)
+
+        if topic == kTopicLowCommand_Debug:
+            lowcmd_pub_debug.Write(cmd)
+
+
+def main() -> None:
+    """Main entry point for the robot server bridge."""
+    # initialize DDS
+    ChannelFactoryInitialize(0)
+
+    # stop all active publishers on the robot
+    msc = MotionSwitcherClient()
+    msc.SetTimeout(5.0)
+    msc.Init()
+
+    status, result = msc.CheckMode()
+    while result is not None and "name" in result and result["name"]:
+        msc.ReleaseMode()
+        status, result = msc.CheckMode()
+        time.sleep(1.0)
+
+    crc = CRC()
+
+    # initialize DDS publisher
+    lowcmd_pub_debug = ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
+    lowcmd_pub_debug.Init()
+
+    # initialize DDS subscriber
+    lowstate_sub = ChannelSubscriber(kTopicLowState, hg_LowState)
+    lowstate_sub.Init()
+
+    # initialize ZMQ
+    ctx = zmq.Context.instance()
+
+    # receive commands from remote client
+    lowcmd_sock = ctx.socket(zmq.PULL)
+    lowcmd_sock.bind(f"tcp://0.0.0.0:{LOWCMD_PORT}")
+
+    # publish state to remote clients
+    lowstate_sock = ctx.socket(zmq.PUB)
+    lowstate_sock.bind(f"tcp://0.0.0.0:{LOWSTATE_PORT}")
+
+    state_period = 0.002  # ~500 hz
+    shutdown_event = threading.Event()
+
+    # start observation forwarding in background thread
+    t_state = threading.Thread(
+        target=state_forward_loop,
+        args=(lowstate_sub, lowstate_sock, state_period, shutdown_event),
+    )
+    t_state.start()
+
+    print("bridge running (lowstate -> zmq, lowcmd -> dds)")
+
+    # run command forwarding in main thread
+    try:
+        cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc)
+    except KeyboardInterrupt:
+        print("shutting down bridge...")
+    finally:
+        shutdown_event.set()
+        ctx.term()  # terminates blocking zmq.recv() calls
+        t_state.join(timeout=2.0)
+
+
+if __name__ == "__main__":
+    main()

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -0,0 +1,284 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import struct
+import threading
+import time
+from dataclasses import dataclass, field
+from functools import cached_property
+from typing import Any
+
+import numpy as np
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import (
+    LowCmd_ as hg_LowCmd,
+    LowState_ as hg_LowState,
+)
+from unitree_sdk2py.utils.crc import CRC
+
+from lerobot.envs.factory import make_env
+from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
+
+from ..robot import Robot
+from .config_unitree_g1 import UnitreeG1Config
+
+logger = logging.getLogger(__name__)
+
+# DDS topic names follow Unitree SDK naming conventions
+# ruff: noqa: N816
+kTopicLowCommand_Debug = "rt/lowcmd"
+kTopicLowState = "rt/lowstate"
+
+G1_29_Num_Motors = 35
+G1_23_Num_Motors = 35
+H1_2_Num_Motors = 35
+H1_Num_Motors = 20
+
+
+@dataclass
+class MotorState:
+    q: float | None = None  # position
+    dq: float | None = None  # velocity
+    tau_est: float | None = None  # estimated torque
+    temperature: float | None = None  # motor temperature
+
+
+@dataclass
+class IMUState:
+    quaternion: np.ndarray | None = None  # [w, x, y, z]
+    gyroscope: np.ndarray | None = None  # [x, y, z] angular velocity (rad/s)
+    accelerometer: np.ndarray | None = None  # [x, y, z] linear acceleration (m/s²)
+    rpy: np.ndarray | None = None  # [roll, pitch, yaw] (rad)
+    temperature: float | None = None  # IMU temperature
+
+
+# g1 observation class
+@dataclass
+class G1_29_LowState:  # noqa: N801
+    motor_state: list[MotorState] = field(
+        default_factory=lambda: [MotorState() for _ in range(G1_29_Num_Motors)]
+    )
+    imu_state: IMUState = field(default_factory=IMUState)
+    wireless_remote: Any = None  # Raw wireless remote data
+    mode_machine: int = 0  # Robot mode
+
+
+class DataBuffer:
+    def __init__(self):
+        self.data = None
+        self.lock = threading.Lock()
+
+    def get_data(self):
+        with self.lock:
+            return self.data
+
+    def set_data(self, data):
+        with self.lock:
+            self.data = data
+
+
+class UnitreeG1(Robot):
+    config_class = UnitreeG1Config
+    name = "unitree_g1"
+
+    # unitree remote controller
+    class RemoteController:
+        def __init__(self):
+            self.lx = 0
+            self.ly = 0
+            self.rx = 0
+            self.ry = 0
+            self.button = [0] * 16
+
+        def set(self, data):
+            # wireless_remote
+            keys = struct.unpack("H", data[2:4])[0]
+            for i in range(16):
+                self.button[i] = (keys & (1 << i)) >> i
+            self.lx = struct.unpack("f", data[4:8])[0]
+            self.rx = struct.unpack("f", data[8:12])[0]
+            self.ry = struct.unpack("f", data[12:16])[0]
+            self.ly = struct.unpack("f", data[20:24])[0]
+
+    def __init__(self, config: UnitreeG1Config):
+        super().__init__(config)
+
+        logger.info("Initialize UnitreeG1...")
+
+        self.config = config
+
+        self.control_dt = config.control_dt
+
+        if config.is_simulation:
+            from unitree_sdk2py.core.channel import (
+                ChannelFactoryInitialize,
+                ChannelPublisher,
+                ChannelSubscriber,
+            )
+        else:
+            from lerobot.robots.unitree_g1.unitree_sdk2_socket import (
+                ChannelFactoryInitialize,
+                ChannelPublisher,
+                ChannelSubscriber,
+            )
+
+        # connect robot
+        self.ChannelFactoryInitialize = ChannelFactoryInitialize
+        self.connect()
+
+        # initialize direct motor control interface
+        self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
+        self.lowcmd_publisher.Init()
+        self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, hg_LowState)
+        self.lowstate_subscriber.Init()
+        self.lowstate_buffer = DataBuffer()
+
+        # initialize subscribe thread to read robot state
+        self._shutdown_event = threading.Event()
+        self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state)
+        self.subscribe_thread.start()
+
+        while not self.is_connected:
+            time.sleep(0.1)
+
+        # initialize hg's lowcmd msg
+        self.crc = CRC()
+        self.msg = unitree_hg_msg_dds__LowCmd_()
+        self.msg.mode_pr = 0
+
+        # Wait for first state message to arrive
+        lowstate = None
+        while lowstate is None:
+            lowstate = self.lowstate_buffer.get_data()
+            if lowstate is None:
+                time.sleep(0.01)
+            logger.warning("[UnitreeG1] Waiting for robot state...")
+        logger.warning("[UnitreeG1] Connected to robot.")
+        self.msg.mode_machine = lowstate.mode_machine
+
+        # initialize all motors with unified kp/kd from config
+        self.kp = np.array(config.kp, dtype=np.float32)
+        self.kd = np.array(config.kd, dtype=np.float32)
+
+        for id in G1_29_JointIndex:
+            self.msg.motor_cmd[id].mode = 1
+            self.msg.motor_cmd[id].kp = self.kp[id.value]
+            self.msg.motor_cmd[id].kd = self.kd[id.value]
+            self.msg.motor_cmd[id].q = lowstate.motor_state[id.value].q
+
+        # Initialize remote controller
+        self.remote_controller = self.RemoteController()
+
+    def _subscribe_motor_state(self):  # polls robot state @ 250Hz
+        while not self._shutdown_event.is_set():
+            start_time = time.time()
+            msg = self.lowstate_subscriber.Read()
+            if msg is not None:
+                lowstate = G1_29_LowState()
+
+                # Capture motor states
+                for id in range(G1_29_Num_Motors):
+                    lowstate.motor_state[id].q = msg.motor_state[id].q
+                    lowstate.motor_state[id].dq = msg.motor_state[id].dq
+                    lowstate.motor_state[id].tau_est = msg.motor_state[id].tau_est
+                    lowstate.motor_state[id].temperature = msg.motor_state[id].temperature
+
+                # Capture IMU state
+                lowstate.imu_state.quaternion = list(msg.imu_state.quaternion)
+                lowstate.imu_state.gyroscope = list(msg.imu_state.gyroscope)
+                lowstate.imu_state.accelerometer = list(msg.imu_state.accelerometer)
+                lowstate.imu_state.rpy = list(msg.imu_state.rpy)
+                lowstate.imu_state.temperature = msg.imu_state.temperature
+
+                # Capture wireless remote data
+                lowstate.wireless_remote = msg.wireless_remote
+
+                # Capture mode_machine
+                lowstate.mode_machine = msg.mode_machine
+
+                self.lowstate_buffer.set_data(lowstate)
+
+            current_time = time.time()
+            all_t_elapsed = current_time - start_time
+            sleep_time = max(0, (self.control_dt - all_t_elapsed))  # maintain constant control dt
+            time.sleep(sleep_time)
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        return {f"{G1_29_JointIndex(motor).name}.pos": float for motor in G1_29_JointIndex}
+
+    def calibrate(self) -> None:  # robot is already calibrated
+        pass
+
+    def configure(self) -> None:
+        pass
+
+    def connect(self, calibrate: bool = True) -> None:  # connect to DDS
+        if self.config.is_simulation:
+            self.ChannelFactoryInitialize(0, "lo")
+            self.mujoco_env = make_env("lerobot/unitree-g1-mujoco", trust_remote_code=True)
+        else:
+            self.ChannelFactoryInitialize(0)
+
+    def disconnect(self):
+        self._shutdown_event.set()
+        self.subscribe_thread.join(timeout=2.0)
+        if self.config.is_simulation:
+            self.mujoco_env["hub_env"][0].envs[0].kill_sim()
+
+    def get_observation(self) -> dict[str, Any]:
+        return self.lowstate_buffer.get_data()
+
+    @property
+    def is_calibrated(self) -> bool:
+        return True
+
+    @property
+    def is_connected(self) -> bool:
+        return self.lowstate_buffer.get_data() is not None
+
+    @property
+    def _motors_ft(self) -> dict[str, type]:
+        return {f"{G1_29_JointIndex(motor).name}.pos": float for motor in G1_29_JointIndex}
+
+    @property
+    def _cameras_ft(self) -> dict[str, tuple]:
+        return {
+            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+        }
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        return {**self._motors_ft, **self._cameras_ft}
+
+    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+        self.msg.crc = self.crc.Crc(action)
+        self.lowcmd_publisher.Write(action)
+        return action
+
+    def get_gravity_orientation(self, quaternion):  # get gravity orientation from quaternion
+        """Get gravity orientation from quaternion."""
+        qw = quaternion[0]
+        qx = quaternion[1]
+        qy = quaternion[2]
+        qz = quaternion[3]
+
+        gravity_orientation = np.zeros(3)
+        gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
+        gravity_orientation[1] = -2 * (qz * qy + qw * qx)
+        gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
+        return gravity_orientation

src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py

@@ -0,0 +1,168 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import base64
+import json
+from typing import Any
+
+import zmq
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+
+_ctx: zmq.Context | None = None
+_lowcmd_sock: zmq.Socket | None = None
+_lowstate_sock: zmq.Socket | None = None
+
+LOWCMD_PORT = 6000
+LOWSTATE_PORT = 6001
+
+# DDS topic names follow Unitree SDK naming conventions
+# ruff: noqa: N816
+kTopicLowCommand_Debug = "rt/lowcmd"
+
+
+class LowStateMsg:
+    """
+    Wrapper class that mimics the Unitree SDK LowState_ message structure.
+
+    Reconstructs the message from deserialized JSON data to maintain
+    compatibility with existing code that expects SDK message objects.
+    """
+
+    class MotorState:
+        """Motor state data for a single joint."""
+
+        def __init__(self, data: dict[str, Any]) -> None:
+            self.q: float = data.get("q", 0.0)
+            self.dq: float = data.get("dq", 0.0)
+            self.tau_est: float = data.get("tau_est", 0.0)
+            self.temperature: float = data.get("temperature", 0.0)
+
+    class IMUState:
+        """IMU sensor data."""
+
+        def __init__(self, data: dict[str, Any]) -> None:
+            self.quaternion: list[float] = data.get("quaternion", [1.0, 0.0, 0.0, 0.0])
+            self.gyroscope: list[float] = data.get("gyroscope", [0.0, 0.0, 0.0])
+            self.accelerometer: list[float] = data.get("accelerometer", [0.0, 0.0, 0.0])
+            self.rpy: list[float] = data.get("rpy", [0.0, 0.0, 0.0])
+            self.temperature: float = data.get("temperature", 0.0)
+
+    def __init__(self, data: dict[str, Any]) -> None:
+        """Initialize from deserialized JSON data."""
+        self.motor_state = [self.MotorState(m) for m in data.get("motor_state", [])]
+        self.imu_state = self.IMUState(data.get("imu_state", {}))
+        # Decode base64-encoded wireless_remote bytes
+        wireless_b64 = data.get("wireless_remote", "")
+        self.wireless_remote: bytes = base64.b64decode(wireless_b64) if wireless_b64 else b""
+        self.mode_machine: int = data.get("mode_machine", 0)
+
+
+def lowcmd_to_dict(topic: str, msg: Any) -> dict[str, Any]:
+    """Convert LowCmd message to a JSON-serializable dictionary."""
+    motor_cmds = []
+    # Iterate over all motor commands in the message
+    for i in range(len(msg.motor_cmd)):
+        motor_cmds.append(
+            {
+                "mode": int(msg.motor_cmd[i].mode),
+                "q": float(msg.motor_cmd[i].q),
+                "dq": float(msg.motor_cmd[i].dq),
+                "kp": float(msg.motor_cmd[i].kp),
+                "kd": float(msg.motor_cmd[i].kd),
+                "tau": float(msg.motor_cmd[i].tau),
+            }
+        )
+
+    return {
+        "topic": topic,
+        "data": {
+            "mode_pr": int(msg.mode_pr),
+            "mode_machine": int(msg.mode_machine),
+            "motor_cmd": motor_cmds,
+        },
+    }
+
+
+def ChannelFactoryInitialize(*args: Any, **kwargs: Any) -> None:  # noqa: N802
+    """
+    Initialize ZMQ sockets for robot communication.
+
+    This function mimics the Unitree SDK's ChannelFactoryInitialize but uses
+    ZMQ sockets to connect to the robot server bridge instead of DDS.
+    """
+    global _ctx, _lowcmd_sock, _lowstate_sock
+
+    # read socket config
+    config = UnitreeG1Config()
+    robot_ip = config.robot_ip
+
+    ctx = zmq.Context.instance()
+    _ctx = ctx
+
+    # lowcmd: send robot commands
+    lowcmd_sock = ctx.socket(zmq.PUSH)
+    lowcmd_sock.setsockopt(zmq.CONFLATE, 1)  # keep only last message
+    lowcmd_sock.connect(f"tcp://{robot_ip}:{LOWCMD_PORT}")
+    _lowcmd_sock = lowcmd_sock
+
+    # lowstate: receive robot observations
+    lowstate_sock = ctx.socket(zmq.SUB)
+    lowstate_sock.setsockopt(zmq.CONFLATE, 1)  # keep only last message
+    lowstate_sock.connect(f"tcp://{robot_ip}:{LOWSTATE_PORT}")
+    lowstate_sock.setsockopt_string(zmq.SUBSCRIBE, "")
+    _lowstate_sock = lowstate_sock
+
+
+class ChannelPublisher:
+    """ZMQ-based publisher that sends commands to the robot server."""
+
+    def __init__(self, topic: str, msg_type: type) -> None:
+        self.topic = topic
+        self.msg_type = msg_type
+
+    def Init(self) -> None:  # noqa: N802
+        """Initialize the publisher (no-op for ZMQ)."""
+        pass
+
+    def Write(self, msg: Any) -> None:  # noqa: N802
+        """Serialize and send a command message to the robot."""
+        if _lowcmd_sock is None:
+            raise RuntimeError("ChannelFactoryInitialize must be called first")
+
+        payload = json.dumps(lowcmd_to_dict(self.topic, msg)).encode("utf-8")
+        _lowcmd_sock.send(payload)
+
+
+class ChannelSubscriber:
+    """ZMQ-based subscriber that receives state from the robot server."""
+
+    def __init__(self, topic: str, msg_type: type) -> None:
+        self.topic = topic
+        self.msg_type = msg_type
+
+    def Init(self) -> None:  # noqa: N802
+        """Initialize the subscriber (no-op for ZMQ)."""
+        pass
+
+    def Read(self) -> LowStateMsg:  # noqa: N802
+        """Receive and deserialize a state message from the robot."""
+        if _lowstate_sock is None:
+            raise RuntimeError("ChannelFactoryInitialize must be called first")
+
+        payload = _lowstate_sock.recv()
+        msg_dict = json.loads(payload.decode("utf-8"))
+        return LowStateMsg(msg_dict.get("data", {}))

src/lerobot/robots/utils.py

@@ -28,6 +28,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .koch_follower import KochFollower
 
         return KochFollower(config)
+    elif config.type == "omx_follower":
+        from .omx_follower import OmxFollower
+
+        return OmxFollower(config)
     elif config.type == "so100_follower":
         from .so100_follower import SO100Follower
 

src/lerobot/scripts/lerobot_calibrate.py

@@ -40,6 +40,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     lekiwi,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -49,10 +50,11 @@ from lerobot.teleoperators import (  # noqa: F401
     homunculus,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.utils import init_logging
 
 
@@ -84,7 +86,7 @@ def calibrate(cfg: CalibrateConfig):
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     calibrate()
 
 

src/lerobot/scripts/lerobot_edit_dataset.py

@@ -18,7 +18,8 @@
 Edit LeRobot datasets using various transformation tools.
 
 This script allows you to delete episodes, split datasets, merge datasets,
-and remove features. When new_repo_id is specified, creates a new dataset.
+remove features, and convert image datasets to video format.
+When new_repo_id is specified, creates a new dataset.
 
 Usage Examples:
 
@@ -65,6 +66,25 @@ Remove camera feature:
         --operation.type remove_feature \
         --operation.feature_names "['observation.images.top']"
 
+Convert image dataset to video format (saves locally):
+    python -m lerobot.scripts.lerobot_edit_dataset \
+        --repo_id lerobot/pusht_image \
+        --operation.type convert_to_video \
+        --operation.output_dir /path/to/output/pusht_video
+
+Convert image dataset and save with new repo_id:
+    python -m lerobot.scripts.lerobot_edit_dataset \
+        --repo_id lerobot/pusht_image \
+        --new_repo_id lerobot/pusht_video \
+        --operation.type convert_to_video
+
+Convert and push to hub:
+    python -m lerobot.scripts.lerobot_edit_dataset \
+        --repo_id lerobot/pusht_image \
+        --new_repo_id lerobot/pusht_video \
+        --operation.type convert_to_video \
+        --push_to_hub true
+
 Using JSON config file:
     python -m lerobot.scripts.lerobot_edit_dataset \
         --config_path path/to/edit_config.json
@@ -72,9 +92,13 @@ Using JSON config file:
 
 import logging
 import shutil
+from concurrent.futures import ThreadPoolExecutor, as_completed
 from dataclasses import dataclass
 from pathlib import Path
 
+import pandas as pd
+from tqdm import tqdm
+
 from lerobot.configs import parser
 from lerobot.datasets.dataset_tools import (
     delete_episodes,
@@ -82,8 +106,10 @@ from lerobot.datasets.dataset_tools import (
     remove_feature,
     split_dataset,
 )
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.utils.constants import HF_LEROBOT_HOME
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.datasets.utils import write_stats, write_tasks
+from lerobot.datasets.video_utils import encode_video_frames, get_video_info
+from lerobot.utils.constants import HF_LEROBOT_HOME, OBS_IMAGE
 from lerobot.utils.utils import init_logging
 
 
@@ -111,10 +137,23 @@ class RemoveFeatureConfig:
     feature_names: list[str] | None = None
 
 
+@dataclass
+class ConvertToVideoConfig:
+    type: str = "convert_to_video"
+    output_dir: str | None = None
+    vcodec: str = "libsvtav1"
+    pix_fmt: str = "yuv420p"
+    g: int = 2
+    crf: int = 30
+    fast_decode: int = 0
+    episode_indices: list[int] | None = None
+    num_workers: int = 4
+
+
 @dataclass
 class EditDatasetConfig:
     repo_id: str
-    operation: DeleteEpisodesConfig | SplitConfig | MergeConfig | RemoveFeatureConfig
+    operation: DeleteEpisodesConfig | SplitConfig | MergeConfig | RemoveFeatureConfig | ConvertToVideoConfig
     root: str | None = None
     new_repo_id: str | None = None
     push_to_hub: bool = False
@@ -258,6 +297,415 @@ def handle_remove_feature(cfg: EditDatasetConfig) -> None:
         LeRobotDataset(output_repo_id, root=output_dir).push_to_hub()
 
 
+def save_episode_images_for_video(
+    dataset: LeRobotDataset,
+    imgs_dir: Path,
+    img_key: str,
+    episode_index: int,
+    num_workers: int = 4,
+) -> None:
+    """Save images from a specific episode and camera to disk for video encoding.
+
+    Args:
+        dataset: The LeRobot dataset to extract images from
+        imgs_dir: Directory to save images to
+        img_key: The image key (camera) to extract
+        episode_index: Index of the episode to save
+        num_workers: Number of threads for parallel image saving
+    """
+    # Create directory
+    imgs_dir.mkdir(parents=True, exist_ok=True)
+
+    # Get dataset without torch format for PIL image access
+    hf_dataset = dataset.hf_dataset.with_format(None)
+
+    # Select only this camera's images
+    imgs_dataset = hf_dataset.select_columns(img_key)
+
+    # Get episode start and end indices
+    from_idx = dataset.meta.episodes["dataset_from_index"][episode_index]
+    to_idx = dataset.meta.episodes["dataset_to_index"][episode_index]
+
+    # Get all items for this episode
+    episode_dataset = imgs_dataset.select(range(from_idx, to_idx))
+
+    # Define function to save a single image
+    def save_single_image(i_item_tuple):
+        i, item = i_item_tuple
+        img = item[img_key]
+        # Use frame-XXXXXX.png format to match encode_video_frames expectations
+        img.save(str(imgs_dir / f"frame-{i:06d}.png"), quality=100)
+        return i
+
+    # Save images with proper naming convention for encode_video_frames (frame-XXXXXX.png)
+    items = list(enumerate(episode_dataset))
+
+    with ThreadPoolExecutor(max_workers=num_workers) as executor:
+        futures = [executor.submit(save_single_image, item) for item in items]
+        for future in as_completed(futures):
+            future.result()  # This will raise any exceptions that occurred
+
+
+def encode_episode_videos(
+    dataset: LeRobotDataset,
+    new_meta: LeRobotDatasetMetadata,
+    episode_index: int,
+    vcodec: str,
+    pix_fmt: str,
+    g: int,
+    crf: int,
+    fast_decode: int,
+    temp_dir: Path,
+    num_image_workers: int = 4,
+) -> dict[str, dict]:
+    """Encode videos for a single episode and return video metadata.
+
+    Args:
+        dataset: Source dataset with images
+        new_meta: Metadata object for the new video dataset
+        episode_index: Episode index to process
+        vcodec: Video codec
+        pix_fmt: Pixel format
+        g: Group of pictures size
+        crf: Constant rate factor
+        fast_decode: Fast decode tuning
+        temp_dir: Temporary directory for images
+        num_image_workers: Number of workers for saving images
+
+    Returns:
+        Dictionary mapping video keys to their metadata (chunk_index, file_index, timestamps)
+    """
+    hf_dataset = dataset.hf_dataset.with_format(None)
+    img_keys = [key for key in hf_dataset.features if key.startswith(OBS_IMAGE)]
+
+    video_metadata = {}
+    fps = int(dataset.fps)  # Convert to int for PyAV compatibility
+    episode_length = dataset.meta.episodes["length"][episode_index]
+    episode_duration = episode_length / dataset.fps  # Use original fps for duration calculation
+
+    for img_key in img_keys:
+        # Save images temporarily
+        imgs_dir = temp_dir / f"episode_{episode_index:06d}" / img_key
+        save_episode_images_for_video(dataset, imgs_dir, img_key, episode_index, num_image_workers)
+
+        # Determine chunk and file indices
+        # For simplicity, we'll put each episode in its own file
+        chunk_idx = episode_index // new_meta.chunks_size
+        file_idx = episode_index % new_meta.chunks_size
+
+        # Create video path in the new dataset structure
+        video_path = new_meta.root / new_meta.video_path.format(
+            video_key=img_key, chunk_index=chunk_idx, file_index=file_idx
+        )
+        video_path.parent.mkdir(parents=True, exist_ok=True)
+
+        # Encode video
+        encode_video_frames(
+            imgs_dir=imgs_dir,
+            video_path=video_path,
+            fps=fps,
+            vcodec=vcodec,
+            pix_fmt=pix_fmt,
+            g=g,
+            crf=crf,
+            fast_decode=fast_decode,
+            overwrite=True,
+        )
+
+        # Clean up temporary images
+        shutil.rmtree(imgs_dir)
+
+        # Store video metadata
+        video_metadata[img_key] = {
+            f"videos/{img_key}/chunk_index": chunk_idx,
+            f"videos/{img_key}/file_index": file_idx,
+            f"videos/{img_key}/from_timestamp": 0.0,
+            f"videos/{img_key}/to_timestamp": episode_duration,
+        }
+
+    return video_metadata
+
+
+def convert_dataset_to_videos(
+    dataset: LeRobotDataset,
+    output_dir: Path,
+    repo_id: str | None = None,
+    vcodec: str = "libsvtav1",
+    pix_fmt: str = "yuv420p",
+    g: int = 2,
+    crf: int = 30,
+    fast_decode: int = 0,
+    episode_indices: list[int] | None = None,
+    num_workers: int = 4,
+) -> LeRobotDataset:
+    """Convert image-based dataset to video-based dataset.
+
+    Creates a new LeRobotDataset with videos instead of images, following the proper
+    LeRobot dataset structure with videos stored in chunked MP4 files.
+
+    Args:
+        dataset: The source LeRobot dataset with images
+        output_dir: Directory to save the new video dataset
+        repo_id: Repository ID for the new dataset (default: original_id + "_video")
+        vcodec: Video codec (default: libsvtav1)
+        pix_fmt: Pixel format (default: yuv420p)
+        g: Group of pictures size (default: 2)
+        crf: Constant rate factor (default: 30)
+        fast_decode: Fast decode tuning (default: 0)
+        episode_indices: List of episode indices to convert (None = all episodes)
+        num_workers: Number of threads for parallel processing (default: 4)
+
+    Returns:
+        New LeRobotDataset with videos
+    """
+    # Check that it's an image dataset
+    if len(dataset.meta.video_keys) > 0:
+        raise ValueError(
+            f"This operation is for image datasets only. Video dataset provided: {dataset.repo_id}"
+        )
+
+    # Get all image keys
+    hf_dataset = dataset.hf_dataset.with_format(None)
+    img_keys = [key for key in hf_dataset.features if key.startswith(OBS_IMAGE)]
+
+    if len(img_keys) == 0:
+        raise ValueError(f"No image keys found in dataset {dataset.repo_id}")
+
+    # Determine which episodes to process
+    if episode_indices is None:
+        episode_indices = list(range(dataset.meta.total_episodes))
+
+    if repo_id is None:
+        repo_id = f"{dataset.repo_id}_video"
+
+    logging.info(
+        f"Converting {len(episode_indices)} episodes with {len(img_keys)} cameras from {dataset.repo_id}"
+    )
+    logging.info(f"Video codec: {vcodec}, pixel format: {pix_fmt}, GOP: {g}, CRF: {crf}")
+
+    # Create new features dict, converting image features to video features
+    new_features = {}
+    for key, value in dataset.meta.features.items():
+        if key not in img_keys:
+            new_features[key] = value
+        else:
+            # Convert image key to video format
+            new_features[key] = value.copy()
+            new_features[key]["dtype"] = "video"  # Change dtype from "image" to "video"
+            # Video info will be updated after episodes are encoded
+
+    # Create new metadata for video dataset
+    new_meta = LeRobotDatasetMetadata.create(
+        repo_id=repo_id,
+        fps=dataset.meta.fps,
+        features=new_features,
+        robot_type=dataset.meta.robot_type,
+        root=output_dir,
+        use_videos=True,
+        chunks_size=dataset.meta.chunks_size,
+        data_files_size_in_mb=dataset.meta.data_files_size_in_mb,
+        video_files_size_in_mb=dataset.meta.video_files_size_in_mb,
+    )
+
+    # Create temporary directory for image extraction
+    temp_dir = output_dir / "temp_images"
+    temp_dir.mkdir(parents=True, exist_ok=True)
+
+    # Process each episode
+    all_episode_metadata = []
+
+    try:
+        for ep_idx in tqdm(episode_indices, desc="Converting episodes to videos"):
+            # Get episode metadata from source
+            src_episode = dataset.meta.episodes[ep_idx]
+
+            # Encode videos for this episode
+            video_metadata = encode_episode_videos(
+                dataset=dataset,
+                new_meta=new_meta,
+                episode_index=ep_idx,
+                vcodec=vcodec,
+                pix_fmt=pix_fmt,
+                g=g,
+                crf=crf,
+                fast_decode=fast_decode,
+                temp_dir=temp_dir,
+                num_image_workers=num_workers,
+            )
+
+            # Build episode metadata
+            episode_meta = {
+                "episode_index": ep_idx,
+                "length": src_episode["length"],
+                "dataset_from_index": ep_idx * src_episode["length"],
+                "dataset_to_index": (ep_idx + 1) * src_episode["length"],
+            }
+
+            # Add video metadata
+            for img_key in img_keys:
+                episode_meta.update(video_metadata[img_key])
+
+            # Add data chunk/file info (using same structure as source)
+            if "data/chunk_index" in src_episode:
+                episode_meta["data/chunk_index"] = src_episode["data/chunk_index"]
+                episode_meta["data/file_index"] = src_episode["data/file_index"]
+
+            all_episode_metadata.append(episode_meta)
+
+        # Copy and transform data files (removing image columns)
+        _copy_data_without_images(dataset, new_meta, episode_indices, img_keys)
+
+        # Save episode metadata
+        episodes_df = pd.DataFrame(all_episode_metadata)
+        episodes_path = new_meta.root / "meta" / "episodes" / "chunk-000" / "file-000.parquet"
+        episodes_path.parent.mkdir(parents=True, exist_ok=True)
+        episodes_df.to_parquet(episodes_path, index=False)
+
+        # Update metadata info
+        new_meta.info["total_episodes"] = len(episode_indices)
+        new_meta.info["total_frames"] = sum(ep["length"] for ep in all_episode_metadata)
+        new_meta.info["total_tasks"] = dataset.meta.total_tasks
+        new_meta.info["splits"] = {"train": f"0:{len(episode_indices)}"}
+
+        # Update video info for all image keys (now videos)
+        # We need to manually set video info since update_video_info() checks video_keys first
+        for img_key in img_keys:
+            if not new_meta.features[img_key].get("info", None):
+                video_path = new_meta.root / new_meta.video_path.format(
+                    video_key=img_key, chunk_index=0, file_index=0
+                )
+                new_meta.info["features"][img_key]["info"] = get_video_info(video_path)
+
+        from lerobot.datasets.utils import write_info
+
+        write_info(new_meta.info, new_meta.root)
+
+        # Copy stats and tasks
+        if dataset.meta.stats is not None:
+            # Remove image stats
+            new_stats = {k: v for k, v in dataset.meta.stats.items() if k not in img_keys}
+            write_stats(new_stats, new_meta.root)
+
+        if dataset.meta.tasks is not None:
+            write_tasks(dataset.meta.tasks, new_meta.root)
+
+    finally:
+        # Clean up temporary directory
+        if temp_dir.exists():
+            shutil.rmtree(temp_dir)
+
+    logging.info(f"✓ Completed converting {dataset.repo_id} to video format")
+    logging.info(f"New dataset saved to: {output_dir}")
+
+    # Return new dataset
+    return LeRobotDataset(repo_id=repo_id, root=output_dir)
+
+
+def _copy_data_without_images(
+    src_dataset: LeRobotDataset,
+    dst_meta: LeRobotDatasetMetadata,
+    episode_indices: list[int],
+    img_keys: list[str],
+) -> None:
+    """Copy data files without image columns.
+
+    Args:
+        src_dataset: Source dataset
+        dst_meta: Destination metadata
+        episode_indices: Episodes to include
+        img_keys: Image keys to remove
+    """
+    from lerobot.datasets.utils import DATA_DIR
+
+    data_dir = src_dataset.root / DATA_DIR
+    parquet_files = sorted(data_dir.glob("*/*.parquet"))
+
+    if not parquet_files:
+        raise ValueError(f"No parquet files found in {data_dir}")
+
+    episode_set = set(episode_indices)
+
+    for src_path in tqdm(parquet_files, desc="Processing data files"):
+        df = pd.read_parquet(src_path).reset_index(drop=True)
+
+        # Filter to only include selected episodes
+        df = df[df["episode_index"].isin(episode_set)].copy()
+
+        if len(df) == 0:
+            continue
+
+        # Remove image columns
+        columns_to_drop = [col for col in img_keys if col in df.columns]
+        if columns_to_drop:
+            df = df.drop(columns=columns_to_drop)
+
+        # Get chunk and file indices from path
+        relative_path = src_path.relative_to(src_dataset.root)
+        chunk_dir = relative_path.parts[1]
+        file_name = relative_path.parts[2]
+        chunk_idx = int(chunk_dir.split("-")[1])
+        file_idx = int(file_name.split("-")[1].split(".")[0])
+
+        # Write to destination without pandas index
+        dst_path = dst_meta.root / f"data/chunk-{chunk_idx:03d}/file-{file_idx:03d}.parquet"
+        dst_path.parent.mkdir(parents=True, exist_ok=True)
+        df.to_parquet(dst_path, index=False)
+
+
+def handle_convert_to_video(cfg: EditDatasetConfig) -> None:
+    # Note: Parser may create any config type with the right fields, so we access fields directly
+    # instead of checking isinstance()
+    dataset = LeRobotDataset(cfg.repo_id, root=cfg.root)
+
+    # Determine output directory and repo_id
+    # Priority: 1) new_repo_id, 2) operation.output_dir, 3) auto-generated name
+    output_dir_config = getattr(cfg.operation, "output_dir", None)
+
+    if cfg.new_repo_id:
+        # Use new_repo_id for both local storage and hub push
+        output_repo_id = cfg.new_repo_id
+        output_dir = Path(cfg.root) / cfg.new_repo_id if cfg.root else HF_LEROBOT_HOME / cfg.new_repo_id
+        logging.info(f"Saving to new dataset: {cfg.new_repo_id}")
+    elif output_dir_config:
+        # Use custom output directory for local-only storage
+        output_dir = Path(output_dir_config)
+        # Extract repo name from output_dir for the dataset
+        output_repo_id = output_dir.name
+        logging.info(f"Saving to local directory: {output_dir}")
+    else:
+        # Auto-generate name: append "_video" to original repo_id
+        output_repo_id = f"{cfg.repo_id}_video"
+        output_dir = Path(cfg.root) / output_repo_id if cfg.root else HF_LEROBOT_HOME / output_repo_id
+        logging.info(f"Saving to auto-generated location: {output_dir}")
+
+    logging.info(f"Converting dataset {cfg.repo_id} to video format")
+
+    new_dataset = convert_dataset_to_videos(
+        dataset=dataset,
+        output_dir=output_dir,
+        repo_id=output_repo_id,
+        vcodec=getattr(cfg.operation, "vcodec", "libsvtav1"),
+        pix_fmt=getattr(cfg.operation, "pix_fmt", "yuv420p"),
+        g=getattr(cfg.operation, "g", 2),
+        crf=getattr(cfg.operation, "crf", 30),
+        fast_decode=getattr(cfg.operation, "fast_decode", 0),
+        episode_indices=getattr(cfg.operation, "episode_indices", None),
+        num_workers=getattr(cfg.operation, "num_workers", 4),
+    )
+
+    logging.info("Video dataset created successfully!")
+    logging.info(f"Location: {output_dir}")
+    logging.info(f"Episodes: {new_dataset.meta.total_episodes}")
+    logging.info(f"Frames: {new_dataset.meta.total_frames}")
+
+    if cfg.push_to_hub:
+        logging.info(f"Pushing to hub as {output_repo_id}...")
+        new_dataset.push_to_hub()
+        logging.info("✓ Successfully pushed to hub!")
+    else:
+        logging.info("Dataset saved locally (not pushed to hub)")
+
+
 @parser.wrap()
 def edit_dataset(cfg: EditDatasetConfig) -> None:
     operation_type = cfg.operation.type
@@ -270,10 +718,12 @@ def edit_dataset(cfg: EditDatasetConfig) -> None:
         handle_merge(cfg)
     elif operation_type == "remove_feature":
         handle_remove_feature(cfg)
+    elif operation_type == "convert_to_video":
+        handle_convert_to_video(cfg)
     else:
         raise ValueError(
             f"Unknown operation type: {operation_type}\n"
-            f"Available operations: delete_episodes, split, merge, remove_feature"
+            f"Available operations: delete_episodes, split, merge, remove_feature, convert_to_video"
         )
 
 

src/lerobot/scripts/lerobot_eval.py

@@ -82,6 +82,7 @@ from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.processor import PolicyAction, PolicyProcessorPipeline
 from lerobot.utils.constants import ACTION, DONE, OBS_STR, REWARD
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.io_utils import write_video
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.utils import (
@@ -792,6 +793,7 @@ def eval_policy_all(
 
 def main():
     init_logging()
+    register_third_party_plugins()
     eval_main()
 
 

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -15,18 +15,23 @@
 # limitations under the License.
 
 """
-Simple script to control a robot from teleoperation.
+Script to find joint limits and end-effector bounds via teleoperation.
 
 Example:
 
 ```shell
 lerobot-find-joint-limits \
   --robot.type=so100_follower \
-  --robot.port=/dev/tty.usbmodem58760431541 \
+  --robot.port=/dev/tty.usbmodem58760432981 \
   --robot.id=black \
   --teleop.type=so100_leader \
-  --teleop.port=/dev/tty.usbmodem58760431551 \
-  --teleop.id=blue
+  --teleop.port=/dev/tty.usbmodem58760434471 \
+  --teleop.id=blue \
+  --urdf_path=<user>/SO-ARM100-main/Simulation/SO101/so101_new_calib.urdf \
+  --target_frame_name=gripper \
+  --teleop_time_s=30 \
+  --warmup_time_s=5 \
+  --control_loop_fps=30
 ```
 """
 
@@ -41,14 +46,18 @@ from lerobot.robots import (  # noqa: F401
     RobotConfig,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
+    so101_follower,
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     gamepad,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
+    so101_leader,
 )
 from lerobot.utils.robot_utils import precise_sleep
 
@@ -57,10 +66,19 @@ from lerobot.utils.robot_utils import precise_sleep
 class FindJointLimitsConfig:
     teleop: TeleoperatorConfig
     robot: RobotConfig
-    # Limit the maximum frames per second. By default, no limit.
+
+    # Path to URDF file for kinematics
+    # NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo:
+    # https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
+    urdf_path: str
+    target_frame_name: str = "gripper"
+
+    # Duration of the recording phase in seconds
     teleop_time_s: float = 30
-    # Display all cameras on screen
-    display_data: bool = False
+    # Duration of the warmup phase in seconds
+    warmup_time_s: float = 5
+    # Control loop frequency
+    control_loop_fps: int = 30
 
 
 @draccus.wrap()
@@ -68,53 +86,127 @@ def find_joint_and_ee_bounds(cfg: FindJointLimitsConfig):
     teleop = make_teleoperator_from_config(cfg.teleop)
     robot = make_robot_from_config(cfg.robot)
 
+    print(f"Connecting to robot: {cfg.robot.type}...")
     teleop.connect()
     robot.connect()
+    print("Devices connected.")
 
-    start_episode_t = time.perf_counter()
-    robot_type = getattr(robot.config, "robot_type", "so101")
-    if "so100" in robot_type or "so101" in robot_type:
-        # Note to be compatible with the rest of the codebase,
-        # we are using the new calibration method for so101 and so100
-        robot_type = "so_new_calibration"
-    kinematics = RobotKinematics(cfg.robot.urdf_path, cfg.robot.target_frame_name)
+    # Initialize Kinematics
+    try:
+        kinematics = RobotKinematics(cfg.urdf_path, cfg.target_frame_name)
+    except Exception as e:
+        print(f"Error initializing kinematics: {e}")
+        print("Ensure URDF path and target frame name are correct.")
+        robot.disconnect()
+        teleop.disconnect()
+        return
 
-    # Initialize min/max values
-    observation = robot.get_observation()
-    joint_positions = np.array([observation[f"{key}.pos"] for key in robot.bus.motors])
-    ee_pos = kinematics.forward_kinematics(joint_positions)[:3, 3]
+    # Initialize variables
+    max_pos = None
+    min_pos = None
+    max_ee = None
+    min_ee = None
 
-    max_pos = joint_positions.copy()
-    min_pos = joint_positions.copy()
-    max_ee = ee_pos.copy()
-    min_ee = ee_pos.copy()
+    start_t = time.perf_counter()
+    warmup_done = False
 
-    while True:
-        action = teleop.get_action()
-        robot.send_action(action)
+    print("\n" + "=" * 40)
+    print(f"  WARMUP PHASE ({cfg.warmup_time_s}s)")
+    print("  Move the robot freely to ensure control works.")
+    print("  Data is NOT being recorded yet.")
+    print("=" * 40 + "\n")
 
-        observation = robot.get_observation()
-        joint_positions = np.array([observation[f"{key}.pos"] for key in robot.bus.motors])
-        ee_pos = kinematics.forward_kinematics(joint_positions)[:3, 3]
+    try:
+        while True:
+            t0 = time.perf_counter()
 
-        # Skip initial warmup period
-        if (time.perf_counter() - start_episode_t) < 5:
-            continue
+            # 1. Teleoperation Control Loop
+            action = teleop.get_action()
+            robot.send_action(action)
 
-        # Update min/max values
-        max_ee = np.maximum(max_ee, ee_pos)
-        min_ee = np.minimum(min_ee, ee_pos)
-        max_pos = np.maximum(max_pos, joint_positions)
-        min_pos = np.minimum(min_pos, joint_positions)
+            # 2. Read Observations
+            observation = robot.get_observation()
+            joint_positions = np.array([observation[f"{key}.pos"] for key in robot.bus.motors])
 
-        if time.perf_counter() - start_episode_t > cfg.teleop_time_s:
-            print(f"Max ee position {np.round(max_ee, 4).tolist()}")
-            print(f"Min ee position {np.round(min_ee, 4).tolist()}")
-            print(f"Max joint pos position {np.round(max_pos, 4).tolist()}")
-            print(f"Min joint pos position {np.round(min_pos, 4).tolist()}")
-            break
+            # 3. Calculate Kinematics
+            # Forward kinematics to get (x, y, z) translation
+            ee_pos = kinematics.forward_kinematics(joint_positions)[:3, 3]
 
-        precise_sleep(0.01)
+            current_time = time.perf_counter()
+            elapsed = current_time - start_t
+
+            # 4. Handle Phases
+            if elapsed < cfg.warmup_time_s:
+                # Still in warmup
+                pass
+
+            else:
+                # Phase Transition: Warmup -> Recording
+                if not warmup_done:
+                    print("\n" + "=" * 40)
+                    print("  RECORDING STARTED")
+                    print("  Move robot to ALL joint limits.")
+                    print("  Press Ctrl+C to stop early and save results.")
+                    print("=" * 40 + "\n")
+
+                    # Initialize limits with current position at start of recording
+                    max_pos = joint_positions.copy()
+                    min_pos = joint_positions.copy()
+                    max_ee = ee_pos.copy()
+                    min_ee = ee_pos.copy()
+                    warmup_done = True
+
+                # Update Limits
+                max_ee = np.maximum(max_ee, ee_pos)
+                min_ee = np.minimum(min_ee, ee_pos)
+                max_pos = np.maximum(max_pos, joint_positions)
+                min_pos = np.minimum(min_pos, joint_positions)
+
+                # Time check
+                recording_time = elapsed - cfg.warmup_time_s
+                remaining = cfg.teleop_time_s - recording_time
+
+                # Simple throttle for print statements (every ~1 sec)
+                if int(recording_time * 100) % 100 == 0:
+                    print(f"Time remaining: {remaining:.1f}s", end="\r")
+
+                if recording_time > cfg.teleop_time_s:
+                    print("\nTime limit reached.")
+                    break
+
+            precise_sleep(max(1.0 / cfg.control_loop_fps - (time.perf_counter() - t0), 0.0))
+
+    except KeyboardInterrupt:
+        print("\n\nInterrupted by user. Stopping safely...")
+
+    finally:
+        # Safety: Disconnect devices
+        print("\nDisconnecting devices...")
+        robot.disconnect()
+        teleop.disconnect()
+
+    # Results Output
+    if max_pos is not None:
+        print("\n" + "=" * 40)
+        print("FINAL RESULTS")
+        print("=" * 40)
+
+        # Rounding for readability
+        r_max_ee = np.round(max_ee, 4).tolist()
+        r_min_ee = np.round(min_ee, 4).tolist()
+        r_max_pos = np.round(max_pos, 4).tolist()
+        r_min_pos = np.round(min_pos, 4).tolist()
+
+        print("\n# End Effector Bounds (x, y, z):")
+        print(f"max_ee = {r_max_ee}")
+        print(f"min_ee = {r_min_ee}")
+
+        print("\n# Joint Position Limits (radians):")
+        print(f"max_pos = {r_max_pos}")
+        print(f"min_pos = {r_min_pos}")
+
+    else:
+        print("No data recorded (exited during warmup).")
 
 
 def main():

src/lerobot/scripts/lerobot_record.py

@@ -93,12 +93,15 @@ from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
     bi_so100_follower,
+    earthrover_mini_plus,
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
+from lerobot.robots.unitree_g1 import config_unitree_g1  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
@@ -106,6 +109,7 @@ from lerobot.teleoperators import (  # noqa: F401
     homunculus,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )
@@ -118,7 +122,7 @@ from lerobot.utils.control_utils import (
     sanity_check_dataset_name,
     sanity_check_dataset_robot_compatibility,
 )
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import (
     get_safe_torch_device,
@@ -194,9 +198,8 @@ class RecordConfig:
             cli_overrides = parser.get_cli_overrides("policy")
             self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
             self.policy.pretrained_path = policy_path
-
-        if self.teleop is None and self.policy is None:
-            raise ValueError("Choose a policy, a teleoperator or both to control the robot")
+        # Note: teleop and policy can both be None for robots with built-in control (e.g. unitree_g1)
+        # This is validated in record() after the robot is instantiated
 
     @classmethod
     def __get_path_fields__(cls) -> list[str]:
@@ -269,7 +272,12 @@ def record_loop(
                 for t in teleop
                 if isinstance(
                     t,
-                    (so100_leader.SO100Leader | so101_leader.SO101Leader | koch_leader.KochLeader),
+                    (
+                        so100_leader.SO100Leader
+                        | so101_leader.SO101Leader
+                        | koch_leader.KochLeader
+                        | omx_leader.OmxLeader
+                    ),
                 )
             ),
             None,
@@ -332,6 +340,13 @@ def record_loop(
             base_action = robot._from_keyboard_to_base_action(keyboard_action)
             act = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
             act_processed_teleop = teleop_action_processor((act, obs))
+        elif policy is None and teleop is None and dataset is not None:
+            # Observation-only recording (robot controls itself, e.g. unitree_g1)
+            # Record observations, extract action-relevant values (positions) from obs
+            # Filter obs_processed to only include keys that match action_features
+            action_keys = set(robot.action_features.keys())
+            action_values = {k: v for k, v in obs_processed.items() if k in action_keys}
+            robot_action_to_send = None
         else:
             logging.info(
                 "No policy or teleoperator provided, skipping action generation."
@@ -344,15 +359,17 @@ def record_loop(
         if policy is not None and act_processed_policy is not None:
             action_values = act_processed_policy
             robot_action_to_send = robot_action_processor((act_processed_policy, obs))
-        else:
+        elif teleop is not None:
             action_values = act_processed_teleop
             robot_action_to_send = robot_action_processor((act_processed_teleop, obs))
+        # else: observation-only mode, action_values already set above
 
-        # Send action to robot
-        # Action can eventually be clipped using `max_relative_target`,
-        # so action actually sent is saved in the dataset. action = postprocessor.process(action)
-        # TODO(steven, pepijn, adil): we should use a pipeline step to clip the action, so the sent action is the action that we input to the robot.
-        _sent_action = robot.send_action(robot_action_to_send)
+        # Send action to robot (skip if observation-only mode)
+        if robot_action_to_send is not None:
+            # Action can eventually be clipped using `max_relative_target`,
+            # so action actually sent is saved in the dataset. action = postprocessor.process(action)
+            # TODO(steven, pepijn, adil): we should use a pipeline step to clip the action, so the sent action is the action that we input to the robot.
+            _sent_action = robot.send_action(robot_action_to_send)
 
         # Write to dataset
         if dataset is not None:
@@ -512,7 +529,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     record()
 
 

src/lerobot/scripts/lerobot_replay.py

@@ -54,14 +54,16 @@ from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
     bi_so100_follower,
+    earthrover_mini_plus,
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
 from lerobot.utils.constants import ACTION
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import (
     init_logging,
@@ -127,7 +129,7 @@ def replay(cfg: ReplayConfig):
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     replay()
 
 

src/lerobot/scripts/lerobot_setup_motors.py

@@ -33,6 +33,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     lekiwi,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -40,6 +41,7 @@ from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )
@@ -47,6 +49,8 @@ from lerobot.teleoperators import (  # noqa: F401
 COMPATIBLE_DEVICES = [
     "koch_follower",
     "koch_leader",
+    "omx_follower",
+    "omx_leader",
     "so100_follower",
     "so100_leader",
     "so101_follower",

src/lerobot/scripts/lerobot_teleoperate.py

@@ -71,9 +71,11 @@ from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
     bi_so100_follower,
+    earthrover_mini_plus,
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -83,12 +85,14 @@ from lerobot.teleoperators import (  # noqa: F401
     bi_so100_leader,
     gamepad,
     homunculus,
+    keyboard,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging, move_cursor_up
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
@@ -217,7 +221,7 @@ def teleoperate(cfg: TeleoperateConfig):
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     teleoperate()
 
 

src/lerobot/scripts/lerobot_train.py

@@ -36,6 +36,7 @@ from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.rl.wandb_utils import WandBLogger
 from lerobot.scripts.lerobot_eval import eval_policy_all
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.logging_utils import AverageMeter, MetricsTracker
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.train_utils import (
@@ -448,6 +449,7 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
 
 
 def main():
+    register_third_party_plugins()
     train()
 
 

src/lerobot/teleoperators/keyboard/__init__.py

@@ -14,12 +14,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .configuration_keyboard import KeyboardEndEffectorTeleopConfig, KeyboardTeleopConfig
-from .teleop_keyboard import KeyboardEndEffectorTeleop, KeyboardTeleop
+from .configuration_keyboard import (
+    KeyboardEndEffectorTeleopConfig,
+    KeyboardRoverTeleopConfig,
+    KeyboardTeleopConfig,
+)
+from .teleop_keyboard import KeyboardEndEffectorTeleop, KeyboardRoverTeleop, KeyboardTeleop
 
 __all__ = [
     "KeyboardTeleopConfig",
     "KeyboardTeleop",
     "KeyboardEndEffectorTeleopConfig",
     "KeyboardEndEffectorTeleop",
+    "KeyboardRoverTeleopConfig",
+    "KeyboardRoverTeleop",
 ]

src/lerobot/teleoperators/keyboard/configuration_keyboard.py

@@ -13,6 +13,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+"""Configuration for keyboard teleoperators."""
 
 from dataclasses import dataclass
 
@@ -30,4 +31,38 @@ class KeyboardTeleopConfig(TeleoperatorConfig):
 @TeleoperatorConfig.register_subclass("keyboard_ee")
 @dataclass
 class KeyboardEndEffectorTeleopConfig(KeyboardTeleopConfig):
+    """Configuration for keyboard end-effector teleoperator.
+
+    Used for controlling robot end-effectors with keyboard inputs.
+
+    Attributes:
+        use_gripper: Whether to include gripper control in actions
+    """
+
     use_gripper: bool = True
+
+
+@TeleoperatorConfig.register_subclass("keyboard_rover")
+@dataclass
+class KeyboardRoverTeleopConfig(TeleoperatorConfig):
+    """Configuration for keyboard rover teleoperator.
+
+    Used for controlling mobile robots like EarthRover Mini Plus with WASD controls.
+
+    Attributes:
+        linear_speed: Default linear velocity magnitude (-1 to 1 range for SDK robots)
+        angular_speed: Default angular velocity magnitude (-1 to 1 range for SDK robots)
+        speed_increment: Amount to increase/decrease speed with +/- keys
+        turn_assist_ratio: Forward motion multiplier when turning with A/D keys (0.0-1.0)
+        angular_speed_ratio: Ratio of angular to linear speed for synchronized adjustments
+        min_linear_speed: Minimum linear speed when decreasing (prevents zero speed)
+        min_angular_speed: Minimum angular speed when decreasing (prevents zero speed)
+    """
+
+    linear_speed: float = 1.0
+    angular_speed: float = 1.0
+    speed_increment: float = 0.1
+    turn_assist_ratio: float = 0.3
+    angular_speed_ratio: float = 0.6
+    min_linear_speed: float = 0.1
+    min_angular_speed: float = 0.05

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -25,7 +25,11 @@ from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnected
 
 from ..teleoperator import Teleoperator
 from ..utils import TeleopEvents
-from .configuration_keyboard import KeyboardEndEffectorTeleopConfig, KeyboardTeleopConfig
+from .configuration_keyboard import (
+    KeyboardEndEffectorTeleopConfig,
+    KeyboardRoverTeleopConfig,
+    KeyboardTeleopConfig,
+)
 
 PYNPUT_AVAILABLE = True
 try:
@@ -289,3 +293,158 @@ class KeyboardEndEffectorTeleop(KeyboardTeleop):
             TeleopEvents.SUCCESS: success,
             TeleopEvents.RERECORD_EPISODE: rerecord_episode,
         }
+
+
+class KeyboardRoverTeleop(KeyboardTeleop):
+    """
+    Keyboard teleoperator for mobile robots like EarthRover Mini Plus.
+
+    Provides intuitive WASD-style controls for driving a mobile robot:
+    - Linear movement (forward/backward)
+    - Angular movement (turning/rotation)
+    - Speed adjustment
+    - Emergency stop
+
+    Keyboard Controls:
+        Movement:
+            - W: Move forward
+            - S: Move backward
+            - A: Turn left (with forward motion)
+            - D: Turn right (with forward motion)
+            - Q: Rotate left in place
+            - E: Rotate right in place
+            - X: Emergency stop
+
+        Speed Control:
+            - +/=: Increase speed
+            - -: Decrease speed
+
+        System:
+            - ESC: Disconnect teleoperator
+
+    Attributes:
+        config: Teleoperator configuration
+        current_linear_speed: Current linear velocity magnitude
+        current_angular_speed: Current angular velocity magnitude
+
+    Example:
+        ```python
+        from lerobot.teleoperators.keyboard import KeyboardRoverTeleop, KeyboardRoverTeleopConfig
+
+        teleop = KeyboardRoverTeleop(
+            KeyboardRoverTeleopConfig(linear_speed=1.0, angular_speed=1.0, speed_increment=0.1)
+        )
+        teleop.connect()
+
+        while teleop.is_connected:
+            action = teleop.get_action()
+            robot.send_action(action)
+        ```
+    """
+
+    config_class = KeyboardRoverTeleopConfig
+    name = "keyboard_rover"
+
+    def __init__(self, config: KeyboardRoverTeleopConfig):
+        super().__init__(config)
+        # Add rover-specific speed settings
+        self.current_linear_speed = config.linear_speed
+        self.current_angular_speed = config.angular_speed
+
+    @property
+    def action_features(self) -> dict:
+        """Return action format for rover (linear and angular velocities)."""
+        return {
+            "linear.vel": float,
+            "angular.vel": float,
+        }
+
+    @property
+    def is_calibrated(self) -> bool:
+        """Rover teleop doesn't require calibration."""
+        return True
+
+    def _drain_pressed_keys(self):
+        """Update current_pressed state from event queue without clearing held keys"""
+        while not self.event_queue.empty():
+            key_char, is_pressed = self.event_queue.get_nowait()
+            if is_pressed:
+                self.current_pressed[key_char] = True
+            else:
+                # Only remove key if it's being released
+                self.current_pressed.pop(key_char, None)
+
+    def get_action(self) -> dict[str, Any]:
+        """
+        Get the current action based on pressed keys.
+
+        Returns:
+            dict with 'linear.vel' and 'angular.vel' keys
+        """
+        before_read_t = time.perf_counter()
+
+        if not self.is_connected:
+            raise DeviceNotConnectedError(
+                "KeyboardRoverTeleop is not connected. You need to run `connect()` before `get_action()`."
+            )
+
+        self._drain_pressed_keys()
+
+        linear_velocity = 0.0
+        angular_velocity = 0.0
+
+        # Check which keys are currently pressed (not released)
+        active_keys = {key for key, is_pressed in self.current_pressed.items() if is_pressed}
+
+        # Linear movement (W/S) - these take priority
+        if "w" in active_keys:
+            linear_velocity = self.current_linear_speed
+        elif "s" in active_keys:
+            linear_velocity = -self.current_linear_speed
+
+        # Turning (A/D/Q/E)
+        if "d" in active_keys:
+            angular_velocity = -self.current_angular_speed
+            if linear_velocity == 0:  # If not moving forward/back, add slight forward motion
+                linear_velocity = self.current_linear_speed * self.config.turn_assist_ratio
+        elif "a" in active_keys:
+            angular_velocity = self.current_angular_speed
+            if linear_velocity == 0:  # If not moving forward/back, add slight forward motion
+                linear_velocity = self.current_linear_speed * self.config.turn_assist_ratio
+        elif "q" in active_keys:
+            angular_velocity = self.current_angular_speed
+            linear_velocity = 0  # Rotate in place
+        elif "e" in active_keys:
+            angular_velocity = -self.current_angular_speed
+            linear_velocity = 0  # Rotate in place
+
+        # Stop (X) - overrides everything
+        if "x" in active_keys:
+            linear_velocity = 0
+            angular_velocity = 0
+
+        # Speed adjustment
+        if "+" in active_keys or "=" in active_keys:
+            self.current_linear_speed += self.config.speed_increment
+            self.current_angular_speed += self.config.speed_increment * self.config.angular_speed_ratio
+            logging.info(
+                f"Speed increased: linear={self.current_linear_speed:.2f}, angular={self.current_angular_speed:.2f}"
+            )
+        if "-" in active_keys:
+            self.current_linear_speed = max(
+                self.config.min_linear_speed, self.current_linear_speed - self.config.speed_increment
+            )
+            self.current_angular_speed = max(
+                self.config.min_angular_speed,
+                self.current_angular_speed - self.config.speed_increment * self.config.angular_speed_ratio,
+            )
+            logging.info(
+                f"Speed decreased: linear={self.current_linear_speed:.2f}, angular={self.current_angular_speed:.2f}"
+            )
+
+        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+
+        return {
+            "linear.vel": linear_velocity,
+            "angular.vel": angular_velocity,
+        }

src/lerobot/teleoperators/omx_leader/__init__.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .config_omx_leader import OmxLeaderConfig
+from .omx_leader import OmxLeader

src/lerobot/teleoperators/omx_leader/config_omx_leader.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+
+from ..config import TeleoperatorConfig
+
+
+@TeleoperatorConfig.register_subclass("omx_leader")
+@dataclass
+class OmxLeaderConfig(TeleoperatorConfig):
+    # Port to connect to the arm
+    port: str
+
+    # Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze
+    # the gripper and have it spring back to an open position on its own.
+    gripper_open_pos: float = 37.0

src/lerobot/teleoperators/omx_leader/omx_leader.py

@@ -0,0 +1,165 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import logging
+import time
+
+from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.dynamixel import (
+    DriveMode,
+    DynamixelMotorsBus,
+    OperatingMode,
+)
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from ..teleoperator import Teleoperator
+from .config_omx_leader import OmxLeaderConfig
+
+logger = logging.getLogger(__name__)
+
+
+class OmxLeader(Teleoperator):
+    """
+    - [OMX](https://github.com/ROBOTIS-GIT/open_manipulator),
+        expansion, developed by Woojin Wie and Junha Cha from [ROBOTIS](https://ai.robotis.com/)
+    """
+
+    config_class = OmxLeaderConfig
+    name = "omx_leader"
+
+    def __init__(self, config: OmxLeaderConfig):
+        super().__init__(config)
+        self.config = config
+        self.bus = DynamixelMotorsBus(
+            port=self.config.port,
+            motors={
+                "shoulder_pan": Motor(1, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "shoulder_lift": Motor(2, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "elbow_flex": Motor(3, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "wrist_flex": Motor(4, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "wrist_roll": Motor(5, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "gripper": Motor(6, "xl330-m077", MotorNormMode.RANGE_0_100),
+            },
+            calibration=self.calibration,
+        )
+
+    @property
+    def action_features(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.bus.motors}
+
+    @property
+    def feedback_features(self) -> dict[str, type]:
+        return {}
+
+    @property
+    def is_connected(self) -> bool:
+        return self.bus.is_connected
+
+    def connect(self, calibrate: bool = True) -> None:
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+        self.bus.connect()
+        if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
+            self.calibrate()
+
+        self.configure()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return self.bus.is_calibrated
+
+    def calibrate(self) -> None:
+        self.bus.disable_torque()
+        logger.info(f"\nUsing factory default calibration values for {self}")
+        logger.info(f"\nWriting default configuration of {self} to the motors")
+        for motor in self.bus.motors:
+            self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+        for motor in self.bus.motors:
+            if motor == "gripper":
+                self.bus.write("Drive_Mode", motor, DriveMode.INVERTED.value)
+            else:
+                self.bus.write("Drive_Mode", motor, DriveMode.NON_INVERTED.value)
+        drive_modes = {motor: 1 if motor == "gripper" else 0 for motor in self.bus.motors}
+
+        self.calibration = {}
+        for motor, m in self.bus.motors.items():
+            self.calibration[motor] = MotorCalibration(
+                id=m.id,
+                drive_mode=drive_modes[motor],
+                homing_offset=0,
+                range_min=0,
+                range_max=4095,
+            )
+
+        self.bus.write_calibration(self.calibration)
+        self._save_calibration()
+        logger.info(f"Calibration saved to {self.calibration_fpath}")
+
+    def configure(self) -> None:
+        self.bus.disable_torque()
+        self.bus.configure_motors()
+        for motor in self.bus.motors:
+            if motor != "gripper":
+                # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
+                # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
+                # assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
+                # point
+                self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+        # Use 'position control current based' for gripper to be limited by the limit of the current.
+        # For the follower gripper, it means it can grasp an object without forcing too much even tho,
+        # its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
+        # For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
+        # to make it move, and it will move back to its original target position when we release the force.
+        self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
+        # Set gripper's goal pos in current position mode so that we can use it as a trigger.
+        self.bus.enable_torque("gripper")
+        if self.is_calibrated:
+            self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
+
+    def setup_motors(self) -> None:
+        for motor in reversed(self.bus.motors):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
+    def get_action(self) -> dict[str, float]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        start = time.perf_counter()
+        action = self.bus.sync_read("Present_Position")
+        action = {f"{motor}.pos": val for motor, val in action.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+        return action
+
+    def send_feedback(self, feedback: dict[str, float]) -> None:
+        # TODO(rcadene, aliberts): Implement force feedback
+        raise NotImplementedError
+
+    def disconnect(self) -> None:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        self.bus.disconnect()
+        logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/utils.py

@@ -41,6 +41,10 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .koch_leader import KochLeader
 
         return KochLeader(config)
+    elif config.type == "omx_leader":
+        from .omx_leader import OmxLeader
+
+        return OmxLeader(config)
     elif config.type == "so100_leader":
         from .so100_leader import SO100Leader
 

src/lerobot/transport/utils.py

@@ -19,7 +19,7 @@ import io
 import json
 import logging
 import pickle  # nosec B403: Safe usage for internal serialization only
-from multiprocessing import Event
+from multiprocessing.synchronize import Event as MpEvent
 from queue import Queue
 from typing import Any
 
@@ -28,6 +28,9 @@ import torch
 from lerobot.transport import services_pb2
 from lerobot.utils.transition import Transition
 
+# FIX for protobuf: Assign the enum to a variable and ignore the type error once
+TransferState = services_pb2.TransferState  # type: ignore[attr-defined]
+
 CHUNK_SIZE = 2 * 1024 * 1024  # 2 MB
 MAX_MESSAGE_SIZE = 4 * 1024 * 1024  # 4 MB
 
@@ -40,8 +43,8 @@ def bytes_buffer_size(buffer: io.BytesIO) -> int:
 
 
 def send_bytes_in_chunks(buffer: bytes, message_class: Any, log_prefix: str = "", silent: bool = True):
-    buffer = io.BytesIO(buffer)
-    size_in_bytes = bytes_buffer_size(buffer)
+    bytes_buffer: io.BytesIO = io.BytesIO(buffer)
+    size_in_bytes = bytes_buffer_size(bytes_buffer)
 
     sent_bytes = 0
 
@@ -50,15 +53,15 @@ def send_bytes_in_chunks(buffer: bytes, message_class: Any, log_prefix: str = ""
     logging_method(f"{log_prefix} Buffer size {size_in_bytes / 1024 / 1024} MB with")
 
     while sent_bytes < size_in_bytes:
-        transfer_state = services_pb2.TransferState.TRANSFER_MIDDLE
+        transfer_state = TransferState.TRANSFER_MIDDLE
 
         if sent_bytes + CHUNK_SIZE >= size_in_bytes:
-            transfer_state = services_pb2.TransferState.TRANSFER_END
+            transfer_state = TransferState.TRANSFER_END
         elif sent_bytes == 0:
-            transfer_state = services_pb2.TransferState.TRANSFER_BEGIN
+            transfer_state = TransferState.TRANSFER_BEGIN
 
         size_to_read = min(CHUNK_SIZE, size_in_bytes - sent_bytes)
-        chunk = buffer.read(size_to_read)
+        chunk = bytes_buffer.read(size_to_read)
 
         yield message_class(transfer_state=transfer_state, data=chunk)
         sent_bytes += size_to_read
@@ -67,7 +70,7 @@ def send_bytes_in_chunks(buffer: bytes, message_class: Any, log_prefix: str = ""
     logging_method(f"{log_prefix} Published {sent_bytes / 1024 / 1024} MB")
 
 
-def receive_bytes_in_chunks(iterator, queue: Queue | None, shutdown_event: Event, log_prefix: str = ""):
+def receive_bytes_in_chunks(iterator, queue: Queue | None, shutdown_event: MpEvent, log_prefix: str = ""):
     bytes_buffer = io.BytesIO()
     step = 0
 
@@ -78,17 +81,17 @@ def receive_bytes_in_chunks(iterator, queue: Queue | None, shutdown_event: Event
             logging.info(f"{log_prefix} Shutting down receiver")
             return
 
-        if item.transfer_state == services_pb2.TransferState.TRANSFER_BEGIN:
+        if item.transfer_state == TransferState.TRANSFER_BEGIN:
             bytes_buffer.seek(0)
             bytes_buffer.truncate(0)
             bytes_buffer.write(item.data)
             logging.debug(f"{log_prefix} Received data at step 0")
             step = 0
-        elif item.transfer_state == services_pb2.TransferState.TRANSFER_MIDDLE:
+        elif item.transfer_state == TransferState.TRANSFER_MIDDLE:
             bytes_buffer.write(item.data)
             step += 1
             logging.debug(f"{log_prefix} Received data at step {step}")
-        elif item.transfer_state == services_pb2.TransferState.TRANSFER_END:
+        elif item.transfer_state == TransferState.TRANSFER_END:
             bytes_buffer.write(item.data)
             logging.debug(f"{log_prefix} Received data at step end size {bytes_buffer_size(bytes_buffer)}")
 
@@ -109,17 +112,17 @@ def receive_bytes_in_chunks(iterator, queue: Queue | None, shutdown_event: Event
 
 def state_to_bytes(state_dict: dict[str, torch.Tensor]) -> bytes:
     """Convert model state dict to flat array for transmission"""
-    buffer = io.BytesIO()
+    bytes_buffer = io.BytesIO()
 
-    torch.save(state_dict, buffer)
+    torch.save(state_dict, bytes_buffer)
 
-    return buffer.getvalue()
+    return bytes_buffer.getvalue()
 
 
 def bytes_to_state_dict(buffer: bytes) -> dict[str, torch.Tensor]:
-    buffer = io.BytesIO(buffer)
-    buffer.seek(0)
-    return torch.load(buffer, weights_only=True)
+    bytes_buffer = io.BytesIO(buffer)
+    bytes_buffer.seek(0)
+    return torch.load(bytes_buffer, weights_only=True)
 
 
 def python_object_to_bytes(python_object: Any) -> bytes:
@@ -127,24 +130,24 @@ def python_object_to_bytes(python_object: Any) -> bytes:
 
 
 def bytes_to_python_object(buffer: bytes) -> Any:
-    buffer = io.BytesIO(buffer)
-    buffer.seek(0)
-    obj = pickle.load(buffer)  # nosec B301: Safe usage of pickle.load
+    bytes_buffer = io.BytesIO(buffer)
+    bytes_buffer.seek(0)
+    obj = pickle.load(bytes_buffer)  # nosec B301: Safe usage of pickle.load
     # Add validation checks here
     return obj
 
 
 def bytes_to_transitions(buffer: bytes) -> list[Transition]:
-    buffer = io.BytesIO(buffer)
-    buffer.seek(0)
-    transitions = torch.load(buffer, weights_only=True)
+    bytes_buffer = io.BytesIO(buffer)
+    bytes_buffer.seek(0)
+    transitions = torch.load(bytes_buffer, weights_only=True)
     return transitions
 
 
 def transitions_to_bytes(transitions: list[Transition]) -> bytes:
-    buffer = io.BytesIO()
-    torch.save(transitions, buffer)
-    return buffer.getvalue()
+    bytes_buffer = io.BytesIO()
+    torch.save(transitions, bytes_buffer)
+    return bytes_buffer.getvalue()
 
 
 def grpc_channel_options(

src/lerobot/utils/import_utils.py

@@ -130,14 +130,14 @@ def make_device_from_device_class(config: ChoiceRegistry) -> Any:
     )
 
 
-def register_third_party_devices() -> None:
+def register_third_party_plugins() -> None:
     """
     Discover and import third-party lerobot_* plugins so they can register themselves.
 
     Scans top-level modules on sys.path for packages starting with
-    'lerobot_robot_', 'lerobot_camera_' or 'lerobot_teleoperator_' and imports them.
+    'lerobot_robot_', 'lerobot_camera_', 'lerobot_teleoperator_' or 'lerobot_policy_' and imports them.
     """
-    prefixes = ("lerobot_robot_", "lerobot_camera_", "lerobot_teleoperator_")
+    prefixes = ("lerobot_robot_", "lerobot_camera_", "lerobot_teleoperator_", "lerobot_policy_")
     imported: list[str] = []
     failed: list[str] = []
 

tests/datasets/test_dataset_tools.py

@@ -29,6 +29,7 @@ from lerobot.datasets.dataset_tools import (
     remove_feature,
     split_dataset,
 )
+from lerobot.scripts.lerobot_edit_dataset import convert_dataset_to_videos
 
 
 @pytest.fixture
@@ -1047,3 +1048,107 @@ def test_modify_features_preserves_file_structure(sample_dataset, tmp_path):
         assert new_chunk_indices == original_chunk_indices, "Chunk indices should be preserved"
         assert new_file_indices == original_file_indices, "File indices should be preserved"
         assert "reward" in modified_dataset.meta.features
+
+
+def test_convert_dataset_to_videos(tmp_path):
+    """Test converting lerobot/pusht_image dataset to video format."""
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+    # Load the actual lerobot/pusht_image dataset (only first 2 episodes for speed)
+    source_dataset = LeRobotDataset("lerobot/pusht_image", episodes=[0, 1])
+
+    output_dir = tmp_path / "pusht_video"
+
+    with (
+        patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
+        patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
+    ):
+        mock_get_safe_version.return_value = "v3.0"
+        mock_snapshot_download.return_value = str(output_dir)
+
+        # Verify source dataset has images, not videos
+        assert len(source_dataset.meta.video_keys) == 0
+        assert "observation.image" in source_dataset.meta.features
+
+        # Convert to video dataset (only first 2 episodes for speed)
+        video_dataset = convert_dataset_to_videos(
+            dataset=source_dataset,
+            output_dir=output_dir,
+            repo_id="lerobot/pusht_video",
+            vcodec="libsvtav1",
+            pix_fmt="yuv420p",
+            g=2,
+            crf=30,
+            episode_indices=[0, 1],
+            num_workers=2,
+        )
+
+        # Verify new dataset has videos
+        assert len(video_dataset.meta.video_keys) > 0
+        assert "observation.image" in video_dataset.meta.video_keys
+
+        # Verify correct number of episodes and frames (2 episodes)
+        assert video_dataset.meta.total_episodes == 2
+        # Compare against the actual number of frames in the loaded episodes, not metadata total
+        assert len(video_dataset) == len(source_dataset)
+
+        # Verify video files exist
+        for ep_idx in range(video_dataset.meta.total_episodes):
+            for video_key in video_dataset.meta.video_keys:
+                video_path = video_dataset.root / video_dataset.meta.get_video_file_path(ep_idx, video_key)
+                assert video_path.exists(), f"Video file should exist: {video_path}"
+
+        # Verify we can load the dataset and access it
+        assert len(video_dataset) == video_dataset.meta.total_frames
+
+        # Test that we can actually get an item from the video dataset
+        item = video_dataset[0]
+        assert "observation.image" in item
+        assert "action" in item
+
+        # Cleanup
+        import shutil
+
+        if output_dir.exists():
+            shutil.rmtree(output_dir)
+
+
+def test_convert_dataset_to_videos_subset_episodes(tmp_path):
+    """Test converting only specific episodes from lerobot/pusht_image to video format."""
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+    # Load the actual lerobot/pusht_image dataset (only first 3 episodes)
+    source_dataset = LeRobotDataset("lerobot/pusht_image", episodes=[0, 1, 2])
+
+    output_dir = tmp_path / "pusht_video_subset"
+
+    with (
+        patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
+        patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
+    ):
+        mock_get_safe_version.return_value = "v3.0"
+        mock_snapshot_download.return_value = str(output_dir)
+
+        # Convert only episode 0 to video (subset of loaded episodes)
+        episode_indices = [0]
+
+        video_dataset = convert_dataset_to_videos(
+            dataset=source_dataset,
+            output_dir=output_dir,
+            repo_id="lerobot/pusht_video_subset",
+            episode_indices=episode_indices,
+            num_workers=2,
+        )
+
+        # Verify correct number of episodes
+        assert video_dataset.meta.total_episodes == len(episode_indices)
+
+        # Verify video files exist for selected episodes
+        assert len(video_dataset.meta.video_keys) > 0
+        assert "observation.image" in video_dataset.meta.video_keys
+
+        # Cleanup
+        import shutil
+
+        if output_dir.exists():
+            shutil.rmtree(output_dir)

tests/policies/xvla/test_xvla_original_vs_lerobot.py

@@ -17,7 +17,6 @@
 """Test script to verify XVLA policy integration with LeRobot vs the original implementation, only meant to be run locally!"""
 # ruff: noqa: E402
 
-import gc
 import random
 from copy import deepcopy
 from typing import Any
@@ -52,18 +51,6 @@ EXPECTED_ACTIONS_STD = 0.245411
 EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.2742, 0.4977, 0.0500, 0.7040, -0.2653])
 
 
-def cleanup_memory():
-    """Clean up GPU/MPS memory to prevent OOM errors between tests."""
-    print("\nCleaning up memory...")
-    gc.collect()
-    if torch.cuda.is_available():
-        torch.cuda.empty_cache()
-        torch.cuda.synchronize()
-    if torch.backends.mps.is_available():
-        torch.mps.empty_cache()
-    print("Memory cleanup complete.")
-
-
 def set_seed_all(seed: int):
     """Set random seed for all RNG sources to ensure reproducibility."""
     random.seed(seed)
@@ -149,7 +136,6 @@ def xvla_components():
     policy_obj, preprocessor_obj, postprocessor_obj = instantiate_lerobot_xvla(from_pretrained=True)
     print("✔️ Model loaded successfully")
     yield policy_obj, preprocessor_obj, postprocessor_obj
-    cleanup_memory()
 
 
 @pytest.fixture(scope="module")
@@ -330,32 +316,3 @@ def test_xvla_inference_reproducibility(policy, preprocessor):
     assert torch.allclose(actions_1, actions_2, atol=1e-6), "Inference should be reproducible!"
 
     print("\nInference is reproducible!")
-
-
-if __name__ == "__main__":
-    print("\n" + "=" * 80)
-    print("XVLA LeRobot Validation Test Suite")
-    print("=" * 80)
-
-    try:
-        # Initialize model once for all tests
-        print("\n[Setup] Instantiating LeRobot XVLA policy...")
-        policy, preprocessor, postprocessor = instantiate_lerobot_xvla(from_pretrained=True)
-        print("✔️ Model loaded successfully")
-
-        # Run all tests with the same model instance
-        test_xvla_preprocessor_alignment(policy, preprocessor)
-        test_xvla_action_generation(policy, preprocessor)
-        test_xvla_inference_reproducibility(policy, preprocessor)
-
-        print("\n" + "=" * 80)
-        print("All tests passed!")
-        print("=" * 80)
-
-        cleanup_memory()
-    except Exception as e:
-        print("\n" + "=" * 80)
-        print(f"Test failed with error: {e}")
-        print("=" * 80)
-        cleanup_memory()
-        raise