Pepijn 8455efc474 feat(umi): simplify to derive_state_from_action and cam0-only ...

- Remove fix_dataset.py (user fixes dataset at source)
- evaluate.py: replace observation.pose/joints with observation.state
  (8D, derived from action during training, from FK at inference)
- evaluate.py: remove cam1 — training uses only cam0
- docs: rewrite workflow around derive_state_from_action=true,
  updated recompute-stats and training commands with
  relative_exclude_joints for gripper dims

Made-with: Cursor

2026-04-02 15:02:20 +02:00

..

_toctree.yml

add umi example

2026-04-01 13:48:06 +02:00

act.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

action_representations.mdx

refactor to use relative state

2026-04-01 17:23:58 +02:00

async.mdx

docs(async): fix GitHub issues link (#3186)

2026-03-19 22:32:07 -07:00

backwardcomp.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

bring_your_own_policies.mdx

chore(docs): add more guidance to bring your own policies tutorial (#3230)

2026-03-27 21:25:37 +01:00

cameras.mdx

docs(cameras): revising and improving docs on cameras (#2878)

2026-01-30 16:57:56 +01:00

contributing.md

Hardware API redesign (#777)

2025-06-05 17:48:43 +02:00

damiao.mdx

feat(motors): add damiao motors & can bus (#2788)

2026-01-26 17:53:25 +01:00

dataset_subtask.mdx

feat(dataset): add subtask support (#2860)

2026-01-30 19:29:37 +01:00

debug_processor_pipeline.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

earthrover_mini_plus.mdx

Fix/earth rover dataset features (#3088)

2026-03-17 18:33:53 +01:00

env_processor.mdx

feat(envs): add envs pre-post processor (#2474)

2025-11-19 18:36:14 +01:00

envhub_isaaclab_arena.mdx

typo LW (#2758)

2026-01-06 18:17:29 +01:00

envhub_leisaac.mdx

feat(robots): consolidates bi SO setups (#2780)

2026-01-12 16:01:22 +01:00

envhub.mdx

chore(docs): updating deprecated huggingface-cli to hf (#3071)

2026-03-04 15:08:49 +01:00

feetech.mdx

Add feetech firmware update docs (#1793)

2025-08-28 11:18:54 +02:00

groot.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

hilserl_sim.mdx

chore(rl): move rl related code to its directory at top level (#2002)

2025-09-23 16:32:34 +02:00

hilserl.mdx

chore: remove unused code (#2062)

2025-09-29 10:49:36 +02:00

hope_jr.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

il_robots.mdx

refactor(dataset): split LeRobotDataset into DatasetReader & DatasetWriter (+ API cleanup) (#3180)

2026-03-26 19:09:25 +01:00

implement_your_own_processor.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

index.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

installation.mdx

chore(docs): add uv installation instructions (#3105)

2026-03-08 13:00:06 +01:00

integrate_hardware.mdx

feat(robots): consolidate SO arms implementation (#2763)

2026-01-08 13:04:30 +01:00

introduction_processors.mdx

fic(docs): local docs links (#2149)

2025-10-09 15:20:07 +02:00

koch.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

lekiwi.mdx

chore(docs): updating deprecated huggingface-cli to hf (#3071)

2026-03-04 15:08:49 +01:00

lerobot-dataset-v3.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

libero.mdx

docs: update libero (#2857)

2026-01-27 15:31:53 +01:00

metaworld.mdx

feat(sim): add metaworld env (#2088)

2025-10-14 17:21:18 +02:00

multi_gpu_training.mdx

feat(train): add accelerate for multi gpu training (#2154)

2025-10-16 17:41:55 +02:00

multi_task_dit.mdx

Feature/add multitask diffusion transformer policy implementation (#2545)

2026-03-28 00:41:26 +01:00

notebooks.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

omx.mdx

fix(robots): update gripper configuration and calibration settings for OMX (#2815)

2026-01-25 22:29:37 +01:00

openarm.mdx

feat(robots): add bi manual openarm follower and leader (#2835)

2026-01-28 17:25:57 +01:00

peft_training.mdx

Add basic PEFT support to train script + record module (#1411)

2026-01-05 08:51:26 +01:00

phone_teleop.mdx

chore(docs): update the document for Phone teleop to clarify how to use the examples (#2991)

2026-02-23 17:11:46 +01:00

pi0.mdx

feat(policies): add relative action support for pi0, pi0.5, and pi0_fast (#2970)

2026-04-01 12:59:12 +02:00

pi0fast.mdx

chore(docs): remove pi installation note (#3095)

2026-03-06 15:52:54 +01:00

pi05.mdx

feat(policies): add relative action support for pi0, pi0.5, and pi0_fast (#2970)

2026-04-01 12:59:12 +02:00

policy_act_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_diffusion_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_groot_README.md

feat(policies): add Nvidia Gr00t N1.5 model (#2292)

2025-10-23 13:50:30 +02:00

policy_multi_task_dit_README.md

Feature/add multitask diffusion transformer policy implementation (#2545)

2026-03-28 00:41:26 +01:00

policy_smolvla_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_tdmpc_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_vqbet_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_walloss_README.md

fix a bug for kwargs in wallx (#2714)

2026-01-06 15:13:35 +01:00

porting_datasets_v3.mdx

Dataset v3 (#1412)

2025-09-15 09:53:30 +02:00

processors_robots_teleop.mdx

chore(docs): update code block syntax to specify python for clarity (#2770)

2026-01-08 14:45:07 +01:00

reachy2.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

rename_map.mdx

chore(docs): add rename map and empty cam guide (#3065)

2026-03-23 13:57:53 -07:00

rtc.mdx

[RTC] Real Time Chunking for Pi0, Smolvla, Pi0.5 (#1698)

2025-11-19 11:19:48 +01:00

sarm.mdx

chore: remove usernames + use entrypoints in docs, comments & sample commands (#2988)

2026-02-18 22:46:12 +01:00

smolvla.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

so100.mdx

feat(robots): consolidate SO arms implementation (#2763)

2026-01-08 13:04:30 +01:00

so101.mdx

Fix SO-101 assembly instruction order to match videos (#3242)

2026-03-31 12:16:34 +02:00

streaming_video_encoding.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

torch_accelerators.mdx

Add a documentation page with a brief intro to hw backends (#2385)

2025-12-05 13:32:58 +01:00

umi_pi0_relative_ee.mdx

feat(umi): simplify to derive_state_from_action and cam0-only

2026-04-02 15:02:20 +02:00

unitree_g1.mdx

fix(unitree_g1): correct SDK detection and update installation docs (#3115)

2026-03-09 18:47:12 +01:00

using_dataset_tools.mdx

feat(datasets): Add info operation to lerobot-edit-dataset command (#2917)

2026-02-17 20:09:42 +01:00

walloss.mdx

chore: remove usernames + use entrypoints in docs, comments & sample commands (#2988)

2026-02-18 22:46:12 +01:00

xvla.mdx

chore: remove usernames + use entrypoints in docs, comments & sample commands (#2988)

2026-02-18 22:46:12 +01:00