LeRobot

LeRobot is an open-source framework from Hugging Face designed to make AI for robotics more accessible. It provides a comprehensive ecosystem for real-world robot learning, including state-of-the-art policies, standardized datasets, and hardware control interfaces. LeRobot offers a unified Robot class interface that decouples control logic from hardware specifics, supporting a wide range of robots from low-cost arms (SO-100) to humanoids (Unitree G1). Its LeRobotDataset format (Parquet + MP4 or images) provides standardized, efficient storage and streaming of robotic datasets hosted on the Hugging Face Hub. The library implements state-of-the-art policies in pure PyTorch, including diffusion policies and action chunking with transformers, that have been shown to transfer to the real world. It supports end-to-end data collection, training, and deployment workflows. LeRobot's mission is to lower the barrier to entry so that everyone can contribute to and benefit from shared robotics datasets and pretrained models. It integrates with the broader Hugging Face ecosystem, enabling easy sharing and discovery of robot datasets.