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The paper introduces LeRobot, an open-source library designed to streamline the robot learning pipeline from low-level motor control to large-scale dataset management and algorithm implementation. LeRobot aims to accelerate research by providing a unified platform that supports accessible hardware, state-of-the-art robot learning algorithms, and asynchronous inference. By emphasizing scalable learning approaches and open accessibility, LeRobot facilitates reproducible research and lowers the barrier to entry for robotics researchers.
Stop cobbling together robot learning pipelines: LeRobot offers an open-source, end-to-end library that handles everything from motor control to scalable learning algorithms.
Robotics is undergoing a significant transformation powered by advances in high-level control techniques based on machine learning, giving rise to the field of robot learning. Recent progress in robot learning has been accelerated by the increasing availability of affordable teleoperation systems, large-scale openly available datasets, and scalable learning-based methods. However, development in the field of robot learning is often slowed by fragmented, closed-source tools designed to only address specific sub-components within the robotics stack. In this paper, we present \texttt{lerobot}, an open-source library that integrates across the entire robot learning stack, from low-level middleware communication for motor controls to large-scale dataset collection, storage and streaming. The library is designed with a strong focus on real-world robotics, supporting accessible hardware platforms while remaining extensible to new embodiments. It also supports efficient implementations for various state-of-the-art robot learning algorithms from multiple prominent paradigms, as well as a generalized asynchronous inference stack. Unlike traditional pipelines which heavily rely on hand-crafted techniques, \texttt{lerobot} emphasizes scalable learning approaches that improve directly with more data and compute. Designed for accessibility, scalability, and openness, \texttt{lerobot} lowers the barrier to entry for researchers and practitioners to robotics while providing a platform for reproducible, state-of-the-art robot learning.
