Release v0.4.3

What's Changed

• chore(dependencies): Bump lerobot to 0.4.3 by @imstevenpmwork in #2540
• fix(scripts): remove the data sampler because data access to the subset of a dataset has been fixed by @sotanakamura in #2521
• Feat/add unitree g1 robot by @nepyope in #2530
• fix(ci): move hub artifacts to /mnt to avoid runners' No space left on device by @imstevenpmwork in #2564
• fix pi05 forward compile by @michel-aractingi in #2551
• Make transport module Mypy Compliant [issue#1731] by @sezan92 in #2433
• feat(policies): Allow users to register 3rd party policies - pip install lerobot_policy_mypolicy by @danielsanjosepro in #2308
• doc: fix wrong package name in installation doc by @yanghua in #2513
• Earth Rover Mini Plus integration by @s1lent4gnt in #2544
• Revert "Earth Rover Mini Plus integration" by @imstevenpmwork in #2574
• feat(policies): Add X-VLA by @jadechoghari in #2405
• feat(robots): Earth Rover Mini Plus integration by @imstevenpmwork in #2575
• fix(docs): remove duplicated package in install instructions by @imstevenpmwork in #2573
• Fix link to lerobot-train script in documentation by @cagataycali in #2466
• chore(docs): reorganize assembly instructions setup before assembly by @ozten in #2333
• Fix argument typo in async inference documentation by @kevinjosethomas in #2361
• fix(scripts): missing so101 import by @imstevenpmwork in #2577
• Add a documentation page with a brief intro to hw backends by @sovrasov in #2385
• Fix video indexing bugs in dataset aggregation with multi video datatasets by @michel-aractingi in #2550
• chore(ci): skip workflows if not lerobot repository by @imstevenpmwork in #2601
• Fix torch.compile in diffusion sampling loops at inference time by @michel-aractingi in #2600
• feat(dataset): add tool to convert images to video datasets by @jadechoghari in #2560
• Docs: Update X-VLA training strategies/commands by @jadechoghari in #2611
• enable variable image sizes to pi0/pi0.5 by @michel-aractingi in #2609
• docs: add auto in docs for xvla by @jadechoghari in #2645
• feat(robot): Add support for OMX robot by @Woojin-Crive in #2614
• Feat/add mj env by @nepyope in #2613
• docs: update IL robots API example and add OpenCV workaround by @cagataycali in #2648
• fix(scripts): finalize the dataset after recording by @sotanakamura in #2496
• feat(dataset): expose tolerance_s argument to training config by @imstevenpmwork in #2653
• fix(policies): add device back to smolvlm expert by @imstevenpmwork in #2662
• feat(scripts): add more info to lerobot-info by @imstevenpmwork in #2663
• docs(dataset): add visualization section by @imstevenpmwork in #2664
• chore(ci): update PR template by @imstevenpmwork in #2665
• feat(ci): simple automatic labelling by @imstevenpmwork in #2667
• chore(ci): update issue template by @imstevenpmwork in #2666
• fix(ci): better heuristic + issue type template fix by @imstevenpmwork in #2672
• fix(ci): close bracket pattern by @imstevenpmwork in #2674
• chore(ci): minor improvements auto labeling by @imstevenpmwork in #2675
• chore(ci): minor improvement bug-report template & pr auto label by @imstevenpmwork in #2676
• Add sarm by @pkooij in #2639
• feat(docs): modernize readme by @imstevenpmwork in #2660
• Fixes ReadMe Policies Classification by @fracapuano in #2682
• fix(optim): enable and resolve mypy type errors by @cverrier in #2683
• Add readme by @pkooij in #2698
• feat: support wallx model by @wut19 in #2593
• modify the README file for wallx by @wut19 in #2705
• chore: modernize contributing.md by @imstevenpmwork in #2677
• use syslink for wall-x readme by @pkooij in #2708
• pi fixes for dependencies by @pkooij in #2706
• feat(ci): adds release versioning to docs by @imstevenpmwork in #2709
• chore(ci): make keyword matching more conservative by @imstevenpmwork in #2711
• Upgrade GitHub Actions for Node 24 compatibility by @salmanmkc in #2691
• fix: use importlib.metadata for plugin discovery to support PEP 660 by @aalvan in #2687
• resolve path for RABC correctly by @pkooij in #2710
• chore: adds dynamic README handling and setup script by @imstevenpmwork in #2724
• feat(pi0): add train_expert_only and freeze_vision_encoder flags to pi0 and pi0.5 by @pxe3 in #2727
• feat(envs): Add NVIDIA IsaacLab-Arena Lerobot by @nv-sachdevkartik in #2699
• IsaacLab Arena Integration documentation update by @liorbenhorin in #2749
• chore(readme): update discord invitation link by @imstevenpmwork in #2750
• Add basic PEFT support to train script + record module by @githubnemo in #1411
• Fix invalid syntax by @pkooij in #2752
• fix a bug for kwargs in wallx by @wut19 in #2714
• docs: LightWheel to Lightwheel by @jadechoghari in #2758
• fix: precise_sleep is never called with negative value by @imstevenpmwork in #2757
• refactor(ci): Docker Hub image env by @paulinebm in #2755
• chore(dependencies): bound new dependecies by @imstevenpmwork in #2759
• add holosoma locomotion by @nepyope in #2669
• feat(visualization): allow remote viewer + compress rerun images by @imstevenpmwork in #2756
• Revert "feat(visualization): allow remote viewer + compress rerun images" by @imstevenpmwork in #2766
• feat(visualization): allow remote viewer + compress rerun images by @imstevenpmwork in #2767
• feat(robots): consolidate SO arms implementation by @imstevenpmwork in #2763
• chore(docs): update code block syntax to specify python for clarity by @imstevenpmwork in #2770
• feat(datasets): expose video codec option for dataset recording by @leot13 in #2771
• skip peft cmd test in cli by @pkooij in #2776
• feat(policies): add autoregressive VLAs with tokenization PiFast by @jadechoghari in #2734
• Fix: Respect policy.device=cpu config in training by @michel-aractingi in #2778
• docs: improve assets by @jadechoghari in #2777
• feat(robots): consolidates bi SO setups by @imstevenpmwork in #2780
• Feat/g1 improvements record sim by @nepyope in #2765
• fix(robots): add reachy2 fixes by @imstevenpmwork in #2783
• Move cfg.validate() earlier to fix NoneType error with --policy.path by @samet-rob in #2782
• fix: train tokenizer CLI entry point by @jadechoghari in #2784
• chore: use alias & constants by @imstevenpmwork in #2785
• fix(teleop): add is_connected check to get_action by @imstevenpmwork in #2801
• chore(ci): merge annoying section in PR template by @imstevenpmwork in https://git...

Release v0.4.2

What's Changed

• chore(dependencies): Bump lerobot to 0.4.2 by @imstevenpmwork in #2423
• Fixes in port droid scripts by @michel-aractingi in #2455
• Fix episode filtering bug when requesting a subset of the episodes in a dataset by @michel-aractingi in #2456
• [RTC] Real Time Chunking for Pi0, Smolvla, Pi0.5 by @helper2424 in #1698
• feat(envs): add envs pre-post processor by @jadechoghari in #2474
• Add absolute_to_reative_idx for remapping indices to fix delta_timestamp bug by @michel-aractingi in #2490
• docs: Add LeIsaac x LeRobot Envhub tutorial by @jadechoghari in #2498
• feat(dataset): speed-up encoding time by @imstevenpmwork in #2514
• feat(dataset): dynamic compress_level depending on the type of dataset (video or image) by @imstevenpmwork in #2517
• fix(examples): wrap all of them into a main function by @imstevenpmwork in #2524
• feat(parallel encoding): making parallel encoding the default choice over all platforms by @CarolinePascal in #2525
• fix(benchmark) : fixing video benchmark by @CarolinePascal in #2094
• feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy by @imstevenpmwork in #2526
• fix(scripts): better prints teleop by @imstevenpmwork in #2538

Full Changelog: v0.4.1...v0.4.2

Release v0.4.1

What's Changed

• chore(dependecies): Bump lerobot to 0.4.1 by @imstevenpmwork in #2299
• docs(readme): update installation instructions for 0.4.0 by @imstevenpmwork in #2310
• docs(install): improve groot and libero installation instructions by @imstevenpmwork in #2314
• fix(video_key typo): fixing video_key typo in update_video_info by @CarolinePascal in #2323
• fix(make_policy): rename mapping edge cases in training by @jadechoghari in #2332
• dep(upgrade): add libero as a pypi package by @jadechoghari in #2365
• feat(sim): EnvHub - allow loading envs from the hub by @jadechoghari in #2121
• fix(dataset_tools) Critical bug in modify features by @michel-aractingi in #2342
• fix(dataset): fix data access bottleneck for faster training by @imstevenpmwork in #2408
• chore(installation): remove libero installation patch by @imstevenpmwork in #2416

Full Changelog: v0.4.0...v0.4.1

Release v0.4.0

Release Blog

https://huggingface.co/blog/lerobot-release-v040

What's Changed

• chore: Bump to 0.3.4 by @imstevenpmwork in #1691
• chore(docs): prioritize use of entry points in docs + fix nightly badge by @imstevenpmwork in #1692
• fix(busy_wait): fix busy_wait implementation for Windows platforms by @CarolinePascal in #1695
• fix(ci): inverted names by @imstevenpmwork in #1705
• fix(ci): rename libegl1-mesa in deb13 trixie by @imstevenpmwork in #1735
• fix: Add missing dynamixel encoding table entries by @jackvial in #1534
• fix(dataset): Correctly use episode_data parameter in save_episode by @lxk-221 in #1740
• Removed dupicate lines of code by @mgiac-hexagon in #1709
• Add feetech firmware update docs by @pkooij in #1793
• Lower limits by 50% for current and torque for gripper motor by @pkooij in #1809
• Allow max_relative_target to be a float by @jstnhuang in #1837
• 2 add reachy 2 to updated lerobot by @glannuzel in #1767
• fix (koch): Disable motor torque before applying calibration logic by @Gongsta in #1889
• fix(scripts): revert deletion of rs cam config import introduced by #1767 by @imstevenpmwork in #1876
• Dataset v3 by @michel-aractingi in #1412
• Add Streaming Dataset by @fracapuano in #1613
• Update dataset card by default by @michel-aractingi in #1936
• docs(dataset): add dataset v3 documentation by @jadechoghari in #1956
• feat(processors): use pipelines across the codebase by @AdilZouitine in #1452
• small tiny nit by @fracapuano in #1975
• fix (docs): image link for phone by @pkooij in #1977
• bump gym-hil version to be pipeline compatible by @michel-aractingi in #1983
• Add docs for LeRobot Image transforms by @pkooij in #1972
• fix formatting readme by @pkooij in #1987
• bump datasets to 4.0.0 by @michel-aractingi in #1990
• fix(trainer): overrides device to the target device, for the device processor on the preprocessor by @AdilZouitine in #1993
• feat(sim): Add Libero Env by @jadechoghari in #1984
• feat(ci): add stale GH action bot for stalled issues & PRs by @imstevenpmwork in #1996
• chore(ci): update time for stale issue/pr by @imstevenpmwork in #1997
• Updated Readme removed broken link by @complete-dope in #1989
• Fix: Resolve PermissionError and UnicodeDecodeError in Python scripts by @JivinDotL in #1980
• fix(dataset): cast fps to int instead of float by @imstevenpmwork in #2001
• chore(rl): move rl related code to its directory at top level by @imstevenpmwork in #2002
• docs(rl): fix path by @imstevenpmwork in #2004
• refactor(scripts): update system info script by @imstevenpmwork in #2005
• feat(script): add entry point for dataset viz by @imstevenpmwork in #2006
• feat(script): add entry point for image transform viz by @imstevenpmwork in #2007
• chore: move constants to utils by @imstevenpmwork in #2016
• chore: move errors to utils by @imstevenpmwork in #2017
• chore(scripts): move find_cameras to scripts by @imstevenpmwork in #2018
• feat(script): add entry point for find joints limits by @imstevenpmwork in #2010
• chore(scripts): move find_port to scripts by @imstevenpmwork in #2019
• chore(scripts): move teleop to scripts by @imstevenpmwork in #2023
• chore(scripts): move record to scripts by @imstevenpmwork in #2022
• chore(scripts): move calibrate to scripts by @imstevenpmwork in #2024
• chore(scripts): move setup_motors to scripts by @imstevenpmwork in #2020
• chore(scripts): move replay to scripts by @imstevenpmwork in #2021
• chore(async): move async related code to its directory at top level by @imstevenpmwork in #2003
• chore(ci): update stale message by @imstevenpmwork in #2027
• fix(docs): update outdated links by @imstevenpmwork in #2026
• chore(utils): move benchmark and buffer to their respective modules by @imstevenpmwork in #2028
• chore(utils): move encoding utils and process to their respective modules by @imstevenpmwork in #2029
• chore(utils): remove unused utils legacy functions + rename init_rerun by @imstevenpmwork in #2031
• chore(utils): move queue utils and wandb_utils to their respective modules by @imstevenpmwork in #2030
• (docs): small change in dataset name by @jadechoghari in #2032
• chore(scripts): rename eval and train scripts by @imstevenpmwork in #2033
• chore: replace hard-coded obs values with constants throughout all the source code by @imstevenpmwork in #2037
• chore(mypy): add mypy configuration and module overrides for gradual type checking by @AdilZouitine in #2052
• chore: replace hard-coded action values with constants throughout all the source code by @imstevenpmwork in #2055
• Bug in conversion from v2.1 script by @michel-aractingi in #2057
• chore: replace hard-coded next values with constants throughout all the source code by @imstevenpmwork in #2056
• chore(utils): remove unused code by @imstevenpmwork in #2059
• Fix(train): add processor overrides with normalizer and unnormalizer stats by @AdilZouitine in #2038
• docs(fix): libero example command by @jadechoghari in #2060
• Save Cropped Dataset to Hub by @fracapuano in #2071
• Fix video concat path by @Tavish9 in #2076
• chore: remove unused code by @imstevenpmwork in #2062
• Improve V3 aggregate implementation by @Tavish9 in #2077
• chore: enable pyugrade ruff lint by @imstevenpmwork in #2084
• chore: enable simplify in ruff lint by @imstevenpmwork in #2085
• feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep by @AdilZouitine in #2087
• Revert feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep (#2087) by @AdilZouitine in #2089
• feat(policies): add noise parameter to action prediction methods by @AdilZouitine in #2063
• feat(train): include input and output features in processor overrides for normalization by @AdilZouitine in #2090
• fix(video_path): setting video_path to None during conversion for images datasets by @CarolinePascal in #2095
• feat(mypy): enable type checking for envs module and configure mypy settings in pyproject.toml by @AdilZouitine in #2099
• feat(mypy): configure mypy settings and add module overrides for gradual typing by @AdilZouitine in #2101
• Making Envs module pass MyPy checks by @iakhil in #2048
• Add OpenPi, Pi0 and Pi0.5 by @pkooij in #1910
• (chore) improve v3 message, allow converting local datasets to V3 by @michel-aractingi in #1948
• fix bug in augment_dataset_quantile_stats.py that was not detecting… by @michel-aractingi in https://github.com/hu...

Release v0.3.3

What's Changed

• chore: Bump to 0.4.0 by @imstevenpmwork in #1653
• Fix policy construction by @fracapuano in #1665
• fix(docs): Update links in il_robots.mdx and il_sim.mdx to use absolute URLs by @tc-huang in #1313
• fix(typo): fixing typo in LeRobot authors names by @CarolinePascal in #1673
• docs: update installation instructions by @imstevenpmwork in #1686
• feat(pipeline): universal processor for LeRobot by @AdilZouitine in #1431
• fix(deps): ceil torch pkg versions by @imstevenpmwork in #1689
• chore: Bump to 0.3.3 by @imstevenpmwork in #1690

Full Changelog: v0.3.2...v0.3.3

Release v0.3.2

What's Changed

• Added poetry setup by @aliberts in #2
• Style & Formatting by @aliberts in #3
• Added pusht dataset auto-download by @aliberts in #4
• Add run on cpu-only compatibility by @aliberts in #5
• Make diffusion work by @Cadene in #6
• Add CI, Remove old install files by @aliberts in #8
• Add AbstractReplayBuffer by @Cadene in #7
• Add Aloha replay buffer + 4 sim datasets by @Cadene in #9
• Fix env tests by @Cadene in #10
• Add pusht test artifact by @aliberts in #12
• Add end-to-end pusht eval test by @aliberts in #15
• Integrate diffusion policy by @aliberts in #16
• Fix bugs with normalization by @Cadene in #17
• Configure wandb entity outside config by @aliberts in #19
• Add license by @aliberts in #20
• Add dynamic build versioning by @aliberts in #18
• Update README.md by @kashif in #23
• Add Aloha env and ACT policy by @Cadene in #11
• CI env fix by @aliberts in #25
• Download datasets from hugging face by @Cadene in #28
• Use Path type instead of str for data_dir by @Cadene in #30
• Fix wandb artifact name and add disable option by @alexander-soare in #31
• Switch between train and eval modes by @alexander-soare in #35
• Add replay_buffer directory and dataset versioning by @Cadene in #36
• Improve README/LICENSE by @Cadene in #37
• Incorporate SerialEnv and introduct multistep policy logic by @alexander-soare in #26
• [WIP] Fix remaining issues with training PushT Image for diffusion policy by @alexander-soare in #22
• Update stats for Pusht and Aloha datasets (v1.0 -> v1.1) by @Cadene in #39
• Enable mps backend for Apple silicon devices by @aliberts in #40
• Fixes issues with PushT diffusion by @alexander-soare in #41
• Run model from HuggingFace hub by @alexander-soare in #44
• Reproduce original diffusion policy pusht image eval by @alexander-soare in #45
• Fix bug with stats.pth + Move from cadene to lerobot + Update datasets to v1.2 by @Cadene in #46
• Fix normalization of last frame and data type in visualization by @alexander-soare in #48
• Port simxarm, upgrade gym to gymnasium by @aliberts in #47
• Improve README by @Cadene in #49
• Update diffusion model by @alexander-soare in #58
• Improve readme by @aliberts in #57
• Add code coverage, more end-to-end tests by @aliberts in #56
• Add examples 2 and 3 by @alexander-soare in #53
• fix stats computation by @alexander-soare in #66
• Remove envs by @aliberts in #69
• Refactor act by @alexander-soare in #68
• Remove torchrl by @Cadene in #64
• Use policy configs instead of passing arguments directly to policy classes by @alexander-soare in #72
• Partial refactor of Diffusion Policy by @alexander-soare in #71
• Refactor pyproject by @aliberts in #76
• Setup contributions by @aliberts in #74
• Use Hugging Face datasets.Dataset by @Cadene in #73
• Fix issue with saving freshly computed stats by @alexander-soare in #77
• Unify policy API by @alexander-soare in #80
• Improve dataset examples by @Cadene in #82
• Tests cleaning & simplification by @aliberts in #81
• Fix tolerance for delta_timestamps by @alexander-soare in #84
• Hotfix test_examples.py by @aliberts in #87
• Quality of life patches for eval.py by @alexander-soare in #86
• Loads episode_data_index and stats during dataset init by @Cadene in #85
• Fix online training by @Cadene in #94
• Move normalization to policy for act and diffusion by @Cadene in #90
• Refactor datasets into LeRobotDataset by @Cadene in #91
• CI nightlies cpu/gpu & cleanup by @aliberts in #75
• Make sure targets are normalized too by @alexander-soare in #106
• More CI cleanup, add style workflow by @aliberts in #107
• Add test-docker-build workflow by @aliberts in #109
• Update readme & remove example 1 by @aliberts in #108
• Add torchaudio by @aliberts in #110
• Add UMI-gripper dataset by @AdilZouitine in #83
• Refactor the download and publication of the datasets and convert it into CLI script by @AdilZouitine in #95
• Remove warnings by @aliberts in #111
• Fix policy defaults by @alexander-soare in #113
• Update UmiProcessor default fps to 10 by @AdilZouitine in #116
• Remove update method from the policy by @qgallouedec in #99
• Remove mask check key in XarmProcessor by @AdilZouitine in #117
• Speed up CI, add more checks by @aliberts in #115
• Refactor push_dataset_to_hub by @Cadene in #118
• Tidy up yaml configs by @alexander-soare in #121
• Nest ACT model in ACT Policy by @alexander-soare in #122
• Follow transformers single file naming conventions by @alexander-soare in #124
• Use PytorchModelHubMixin to save models as safetensors by @alexander-soare in #125
• Refactor TD-MPC by @alexander-soare in #103
• Fix missing policy.to(device) in policy factory by @alexander-soare in #126
• Add video decoding to LeRobotDataset by @Cadene in #92
• Publish environments by @aliberts in #120
• Refactor eval.py by @alexander-soare in #127
• Remove batch length restrictions in select_action by @aliberts in #123
• Add dataset visualization with rerun.io by @Cadene in #131
• Add regression tests by @aliberts in #119
• Fix loops in eval.py by @alexander-soare in #128
• Remove EMA model from Diffusion Policy by @alexander-soare in #134
• Rename Diffusion Policy model repository by @alexander-soare in #136
• Remove additional frame from eval render by @alexander-soare in #137
• Add 25 real world datasets (static + mobile aloha) by @Cadene in #133
• Release cleanup by @aliberts in #132
• Remove loss masking from diffusion policy by @alexander-soare in #135
• Relax version contraints & poetry lock by @aliberts in #139
• Add policy and dataset tags to WandB logging by @alexander-soare in #144
• Override pretrained model config by @alexander-soare in #147
• Fix SpatialSoftmax input shape by @alexander-soare in #150
• Support for DDIMScheduler in Diffusion Policy by @kashya...