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Hugging Face/LeRobot/v0.3.2

Release v0.3.2

v0.3.2

August 1, 2025LeRobotView original ↗

What's Changed

Added poetry setup by @aliberts in https://github.com/huggingface/lerobot/pull/2
Style & Formatting by @aliberts in https://github.com/huggingface/lerobot/pull/3
Added pusht dataset auto-download by @aliberts in https://github.com/huggingface/lerobot/pull/4
Add run on cpu-only compatibility by @aliberts in https://github.com/huggingface/lerobot/pull/5
Make diffusion work by @Cadene in https://github.com/huggingface/lerobot/pull/6
Add CI, Remove old install files by @aliberts in https://github.com/huggingface/lerobot/pull/8
Add AbstractReplayBuffer by @Cadene in https://github.com/huggingface/lerobot/pull/7
Add Aloha replay buffer + 4 sim datasets by @Cadene in https://github.com/huggingface/lerobot/pull/9
Fix env tests by @Cadene in https://github.com/huggingface/lerobot/pull/10
Add pusht test artifact by @aliberts in https://github.com/huggingface/lerobot/pull/12
Add end-to-end pusht eval test by @aliberts in https://github.com/huggingface/lerobot/pull/15
Integrate diffusion policy by @aliberts in https://github.com/huggingface/lerobot/pull/16
Fix bugs with normalization by @Cadene in https://github.com/huggingface/lerobot/pull/17
Configure wandb entity outside config by @aliberts in https://github.com/huggingface/lerobot/pull/19
Add license by @aliberts in https://github.com/huggingface/lerobot/pull/20
Add dynamic build versioning by @aliberts in https://github.com/huggingface/lerobot/pull/18
Update README.md by @kashif in https://github.com/huggingface/lerobot/pull/23
Add Aloha env and ACT policy by @Cadene in https://github.com/huggingface/lerobot/pull/11
CI env fix by @aliberts in https://github.com/huggingface/lerobot/pull/25
Download datasets from hugging face by @Cadene in https://github.com/huggingface/lerobot/pull/28
Use Path type instead of str for data_dir by @Cadene in https://github.com/huggingface/lerobot/pull/30
Fix wandb artifact name and add disable option by @alexander-soare in https://github.com/huggingface/lerobot/pull/31
Switch between train and eval modes by @alexander-soare in https://github.com/huggingface/lerobot/pull/35
Add replay_buffer directory and dataset versioning by @Cadene in https://github.com/huggingface/lerobot/pull/36
Improve README/LICENSE by @Cadene in https://github.com/huggingface/lerobot/pull/37
Incorporate SerialEnv and introduct multistep policy logic by @alexander-soare in https://github.com/huggingface/lerobot/pull/26
[WIP] Fix remaining issues with training PushT Image for diffusion policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/22
Update stats for Pusht and Aloha datasets (v1.0 -> v1.1) by @Cadene in https://github.com/huggingface/lerobot/pull/39
Enable mps backend for Apple silicon devices by @aliberts in https://github.com/huggingface/lerobot/pull/40
Fixes issues with PushT diffusion by @alexander-soare in https://github.com/huggingface/lerobot/pull/41
Run model from HuggingFace hub by @alexander-soare in https://github.com/huggingface/lerobot/pull/44
Reproduce original diffusion policy pusht image eval by @alexander-soare in https://github.com/huggingface/lerobot/pull/45
Fix bug with stats.pth + Move from cadene to lerobot + Update datasets to v1.2 by @Cadene in https://github.com/huggingface/lerobot/pull/46
Fix normalization of last frame and data type in visualization by @alexander-soare in https://github.com/huggingface/lerobot/pull/48
Port simxarm, upgrade gym to gymnasium by @aliberts in https://github.com/huggingface/lerobot/pull/47
Improve README by @Cadene in https://github.com/huggingface/lerobot/pull/49
Update diffusion model by @alexander-soare in https://github.com/huggingface/lerobot/pull/58
Improve readme by @aliberts in https://github.com/huggingface/lerobot/pull/57
Add code coverage, more end-to-end tests by @aliberts in https://github.com/huggingface/lerobot/pull/56
Add examples 2 and 3 by @alexander-soare in https://github.com/huggingface/lerobot/pull/53
fix stats computation by @alexander-soare in https://github.com/huggingface/lerobot/pull/66
Remove envs by @aliberts in https://github.com/huggingface/lerobot/pull/69
Refactor act by @alexander-soare in https://github.com/huggingface/lerobot/pull/68
Remove torchrl by @Cadene in https://github.com/huggingface/lerobot/pull/64
Use policy configs instead of passing arguments directly to policy classes by @alexander-soare in https://github.com/huggingface/lerobot/pull/72
Partial refactor of Diffusion Policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/71
Refactor pyproject by @aliberts in https://github.com/huggingface/lerobot/pull/76
Setup contributions by @aliberts in https://github.com/huggingface/lerobot/pull/74
Use Hugging Face datasets.Dataset by @Cadene in https://github.com/huggingface/lerobot/pull/73
Fix issue with saving freshly computed stats by @alexander-soare in https://github.com/huggingface/lerobot/pull/77
Unify policy API by @alexander-soare in https://github.com/huggingface/lerobot/pull/80
Improve dataset examples by @Cadene in https://github.com/huggingface/lerobot/pull/82
Tests cleaning & simplification by @aliberts in https://github.com/huggingface/lerobot/pull/81
Fix tolerance for delta_timestamps by @alexander-soare in https://github.com/huggingface/lerobot/pull/84
Hotfix test_examples.py by @aliberts in https://github.com/huggingface/lerobot/pull/87
Quality of life patches for eval.py by @alexander-soare in https://github.com/huggingface/lerobot/pull/86
Loads episode_data_index and stats during dataset init by @Cadene in https://github.com/huggingface/lerobot/pull/85
Fix online training by @Cadene in https://github.com/huggingface/lerobot/pull/94
Move normalization to policy for act and diffusion by @Cadene in https://github.com/huggingface/lerobot/pull/90
Refactor datasets into LeRobotDataset by @Cadene in https://github.com/huggingface/lerobot/pull/91
CI nightlies cpu/gpu & cleanup by @aliberts in https://github.com/huggingface/lerobot/pull/75
Make sure targets are normalized too by @alexander-soare in https://github.com/huggingface/lerobot/pull/106
More CI cleanup, add style workflow by @aliberts in https://github.com/huggingface/lerobot/pull/107
Add test-docker-build workflow by @aliberts in https://github.com/huggingface/lerobot/pull/109
Update readme & remove example 1 by @aliberts in https://github.com/huggingface/lerobot/pull/108
Add torchaudio by @aliberts in https://github.com/huggingface/lerobot/pull/110
Add UMI-gripper dataset by @AdilZouitine in https://github.com/huggingface/lerobot/pull/83
Refactor the download and publication of the datasets and convert it into CLI script by @AdilZouitine in https://github.com/huggingface/lerobot/pull/95
Remove warnings by @aliberts in https://github.com/huggingface/lerobot/pull/111
Fix policy defaults by @alexander-soare in https://github.com/huggingface/lerobot/pull/113
Update UmiProcessor default fps to 10 by @AdilZouitine in https://github.com/huggingface/lerobot/pull/116
Remove update method from the policy by @qgallouedec in https://github.com/huggingface/lerobot/pull/99
Remove mask check key in XarmProcessor by @AdilZouitine in https://github.com/huggingface/lerobot/pull/117
Speed up CI, add more checks by @aliberts in https://github.com/huggingface/lerobot/pull/115
Refactor push_dataset_to_hub by @Cadene in https://github.com/huggingface/lerobot/pull/118
Tidy up yaml configs by @alexander-soare in https://github.com/huggingface/lerobot/pull/121
Nest ACT model in ACT Policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/122
Follow transformers single file naming conventions by @alexander-soare in https://github.com/huggingface/lerobot/pull/124
Use PytorchModelHubMixin to save models as safetensors by @alexander-soare in https://github.com/huggingface/lerobot/pull/125
Refactor TD-MPC by @alexander-soare in https://github.com/huggingface/lerobot/pull/103
Fix missing policy.to(device) in policy factory by @alexander-soare in https://github.com/huggingface/lerobot/pull/126
Add video decoding to LeRobotDataset by @Cadene in https://github.com/huggingface/lerobot/pull/92
Publish environments by @aliberts in https://github.com/huggingface/lerobot/pull/120
Refactor eval.py by @alexander-soare in https://github.com/huggingface/lerobot/pull/127
Remove batch length restrictions in select_action by @aliberts in https://github.com/huggingface/lerobot/pull/123
Add dataset visualization with rerun.io by @Cadene in https://github.com/huggingface/lerobot/pull/131
Add regression tests by @aliberts in https://github.com/huggingface/lerobot/pull/119
Fix loops in eval.py by @alexander-soare in https://github.com/huggingface/lerobot/pull/128
Remove EMA model from Diffusion Policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/134
Rename Diffusion Policy model repository by @alexander-soare in https://github.com/huggingface/lerobot/pull/136
Remove additional frame from eval render by @alexander-soare in https://github.com/huggingface/lerobot/pull/137
Add 25 real world datasets (static + mobile aloha) by @Cadene in https://github.com/huggingface/lerobot/pull/133
Release cleanup by @aliberts in https://github.com/huggingface/lerobot/pull/132
Remove loss masking from diffusion policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/135
Relax version contraints & poetry lock by @aliberts in https://github.com/huggingface/lerobot/pull/139
Add policy and dataset tags to WandB logging by @alexander-soare in https://github.com/huggingface/lerobot/pull/144
Override pretrained model config by @alexander-soare in https://github.com/huggingface/lerobot/pull/147
Fix SpatialSoftmax input shape by @alexander-soare in https://github.com/huggingface/lerobot/pull/150
Support for DDIMScheduler in Diffusion Policy by @kashyapakshay in https://github.com/huggingface/lerobot/pull/146
refactor: update configuration_tdmpc.py by @eltociear in https://github.com/huggingface/lerobot/pull/153
Update dev docker build by @aliberts in https://github.com/huggingface/lerobot/pull/148
Remove dependencies upper bounds constraints by @aliberts in https://github.com/huggingface/lerobot/pull/145
Enable tests for TD-MPC by @alexander-soare in https://github.com/huggingface/lerobot/pull/160
Fix stats override in ACT config by @alexander-soare in https://github.com/huggingface/lerobot/pull/161
Add context manager for seeding by @alexander-soare in https://github.com/huggingface/lerobot/pull/164
Enable logging all the information returned by the forward methods of policies by @alexander-soare in https://github.com/huggingface/lerobot/pull/151
Remove torchrl acknowledgement by @vmoens in https://github.com/huggingface/lerobot/pull/177
Fix hanging in visualize_dataset.py when num_workers > 0 by @Cadene in https://github.com/huggingface/lerobot/pull/165
Fix #173 - Require gym-pusht to be installed for test_examples_3_and_2 by @aliberts in https://github.com/huggingface/lerobot/pull/174
Fixes issue #152 - error with creating wandb artifact by @AshisGhosh in https://github.com/huggingface/lerobot/pull/172
Limit datasets major update by @aliberts in https://github.com/huggingface/lerobot/pull/176
Add copyrights by @aliberts in https://github.com/huggingface/lerobot/pull/157
Make policies compatible with other/multiple image keys by @alexander-soare in https://github.com/huggingface/lerobot/pull/149
Port SpatialSoftmax and remove Robomimic dependency by @kashyapakshay in https://github.com/huggingface/lerobot/pull/182
Fix act action queue by @alexander-soare in https://github.com/huggingface/lerobot/pull/185
Act temporal ensembling by @alexander-soare in https://github.com/huggingface/lerobot/pull/186
Explain why n_encoder_layers=1 by @alexander-soare in https://github.com/huggingface/lerobot/pull/193
Disable wandb by default by @alexander-soare in https://github.com/huggingface/lerobot/pull/195
Update the README to reflect WandB disabled by default by @alexander-soare in https://github.com/huggingface/lerobot/pull/198
Fix aloha real-world datasets by @Cadene in https://github.com/huggingface/lerobot/pull/175
Adds split_by_episodes to LeRobotDataset by @radekosmulski in https://github.com/huggingface/lerobot/pull/158
Hot fix to compute validation loss example test by @Cadene in https://github.com/huggingface/lerobot/pull/200
Disable online training by @alexander-soare in https://github.com/huggingface/lerobot/pull/202
Add Automatic Mixed Precision option for training and evaluation. by @alexander-soare in https://github.com/huggingface/lerobot/pull/199
Add tutorials for using the training script and by @alexander-soare in https://github.com/huggingface/lerobot/pull/196
Fix install issues by @aliberts in https://github.com/huggingface/lerobot/pull/191
Add dev docker image by @aliberts in https://github.com/huggingface/lerobot/pull/189
Adds a tutorial section on how to use arbitrary configuration files by @alexander-soare in https://github.com/huggingface/lerobot/pull/206
throw an error if config.do_maks_loss and action_is_pad not provided in batch by @radekosmulski in https://github.com/huggingface/lerobot/pull/213
Fix nightly builds by @aliberts in https://github.com/huggingface/lerobot/pull/216
Add resume training by @alexander-soare in https://github.com/huggingface/lerobot/pull/205
Handle crop_shape=None in Diffusion Policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/219
Enable cuda for end-to-end tests by @aliberts in https://github.com/huggingface/lerobot/pull/222
Add aloha_dora_format.py by @Cadene in https://github.com/huggingface/lerobot/pull/201
Refactor env to add key word arguments from config yaml by @Cadene in https://github.com/huggingface/lerobot/pull/223
Add MultiLerobotDataset for training with multiple LeRobotDatasets by @alexander-soare in https://github.com/huggingface/lerobot/pull/229
Add a test for MultiLeRobotDataset making sure it produces all frames. by @alexander-soare in https://github.com/huggingface/lerobot/pull/230
Improve documentation on VAE encoder inputs by @alexander-soare in https://github.com/huggingface/lerobot/pull/215
Fix chaining in MultiLerobotDataset by @alexander-soare in https://github.com/huggingface/lerobot/pull/233
Add precision param to format_big_number by @radekosmulski in https://github.com/huggingface/lerobot/pull/232
add EpisodeAwareSampler by @radekosmulski in https://github.com/huggingface/lerobot/pull/217
Add real-world support for ACT on Aloha/Aloha2 by @Cadene in https://github.com/huggingface/lerobot/pull/228
Typo in examples\4_train_policy_with_script.md by @jganitzer in https://github.com/huggingface/lerobot/pull/235
Remove redundant slicing operation in Diffusion Policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/240
Fix visualize_dataset.py --help by @aliberts in https://github.com/huggingface/lerobot/pull/241
Fix bug in normalize to avoid divide by zero by @ruijie-he in https://github.com/huggingface/lerobot/pull/239
Adding parameter dataloading_s to console logs and wandb for tracking… by @amandip7 in https://github.com/huggingface/lerobot/pull/243
Add out_dir option to eval by @alexander-soare in https://github.com/huggingface/lerobot/pull/244
Fix videos_dir documentation by @alexander-soare in https://github.com/huggingface/lerobot/pull/247
Make display_sys_info.py install-agnostic by @aliberts in https://github.com/huggingface/lerobot/pull/253
add root argument to the dataset visualizer to visualize local datasets by @tlpss in https://github.com/huggingface/lerobot/pull/249
feat(ci): add trufflehog secrets detection by @McPatate in https://github.com/huggingface/lerobot/pull/254
Improves Type Annotations by @WaelKarkoub in https://github.com/huggingface/lerobot/pull/252
chore: update 4_train_policy_with_script.md by @eltociear in https://github.com/huggingface/lerobot/pull/257
Add data augmentation in LeRobotDataset by @marinabar in https://github.com/huggingface/lerobot/pull/234
Fix make_dataset to match transforms config by @marinabar in https://github.com/huggingface/lerobot/pull/264
Improve push_dataset_to_hub API + Add unit tests by @thomwolf in https://github.com/huggingface/lerobot/pull/231
Fix nightlies by @aliberts in https://github.com/huggingface/lerobot/pull/273
added visualization for min and max transforms by @marinabar in https://github.com/huggingface/lerobot/pull/271
Add multi-image support to diffusion policy by @alexander-soare in https://github.com/huggingface/lerobot/pull/218
fix Unet global_cond_dim to use state dim, not action dim by @ojh6404 in https://github.com/huggingface/lerobot/pull/278
Bug fix: fix setting different learning rates between backbone and main model in ACT policy by @thomwolf in https://github.com/huggingface/lerobot/pull/280
Update readme to detail the lerobot dataset format by @thomwolf in https://github.com/huggingface/lerobot/pull/275
Bug fix: missing attention mask in VAE encoder in ACT policy by @thomwolf in https://github.com/huggingface/lerobot/pull/279
Enable video_reader backend by @aliberts in https://github.com/huggingface/lerobot/pull/220
Checkpoint on final step of training even when it doesn't coincide with save_freq. by @alexander-soare in https://github.com/huggingface/lerobot/pull/284
Add VQ-BeT by @jayLEE0301 in https://github.com/huggingface/lerobot/pull/166
Add test to make sure policy dataclass configs match yaml configs by @alexander-soare in https://github.com/huggingface/lerobot/pull/292
Added new credits and citations by @notmahi in https://github.com/huggingface/lerobot/pull/301
Cleanup config defaults by @aliberts in https://github.com/huggingface/lerobot/pull/300
Add VQ-BeT copyrights by @aliberts in https://github.com/huggingface/lerobot/pull/299
Fix generation of dataset test artifact by @alexander-soare in https://github.com/huggingface/lerobot/pull/306
Include observation.environment_state with keypoints in PushT dataset by @alexander-soare in https://github.com/huggingface/lerobot/pull/303
Train diffusion pusht_keypoints by @alexander-soare in https://github.com/huggingface/lerobot/pull/307
Improve video benchmark by @aliberts in https://github.com/huggingface/lerobot/pull/282
Bug fix: fix error when setting select_target_actions_indices in vqbet by @jayLEE0301 in https://github.com/huggingface/lerobot/pull/310
Make ACT compatible with "observation.environment_state" by @alexander-soare in https://github.com/huggingface/lerobot/pull/314
Add available list of raw repo ids by @Cadene in https://github.com/huggingface/lerobot/pull/312
Add real robot devices and scripts to control real robot by @Cadene in https://github.com/huggingface/lerobot/pull/288
Fix ACT temporal ensembling by @alexander-soare in https://github.com/huggingface/lerobot/pull/319
Improve error message when attempting to overwrite a training output folder by @alexander-soare in https://github.com/huggingface/lerobot/pull/322
Fix datasets missing versions by @aliberts in https://github.com/huggingface/lerobot/pull/318
Ensure no upper bound constraints on dependencies by @aliberts in https://github.com/huggingface/lerobot/pull/327
Detect secrets in pre-commit by @aliberts in https://github.com/huggingface/lerobot/pull/332
Fix visualize_image_transforms by @aliberts in https://github.com/huggingface/lerobot/pull/333
Convert datasets to av1 encoding by @aliberts in https://github.com/huggingface/lerobot/pull/302
Make sure policies don't mutate the batch by @alexander-soare in https://github.com/huggingface/lerobot/pull/323
Add online training with TD-MPC as proof of concept by @alexander-soare in https://github.com/huggingface/lerobot/pull/338
Adjust the timestamps' description in Diffusion Policy by @HalvardBariller in https://github.com/huggingface/lerobot/pull/343
Update README for cross-platform installation compatibility by @resolver101757 in https://github.com/huggingface/lerobot/pull/347
fix ci by @XciD in https://github.com/huggingface/lerobot/pull/351
Add visualize_dataset_html with http.server by @Cadene in https://github.com/huggingface/lerobot/pull/188
Fix CI builds by @aliberts in https://github.com/huggingface/lerobot/pull/357
feat for the GPU poors : Add GPU availability check in evaluate_pretr… by @perezjln in https://github.com/huggingface/lerobot/pull/359
fix bug in example 2 by @alexander-soare in https://github.com/huggingface/lerobot/pull/361
Improve control robot ; Add process to configure motor indices by @Cadene in https://github.com/huggingface/lerobot/pull/326
Add dataset cards by @aliberts in https://github.com/huggingface/lerobot/pull/363
Fix input dim by @alexander-soare in https://github.com/huggingface/lerobot/pull/365
Improve discoverability on the hub by @NielsRogge in https://github.com/huggingface/lerobot/pull/325
Slightly improve tutorial and README by @Cadene in https://github.com/huggingface/lerobot/pull/370
Fix typo in tutorial by @ellacroix in https://github.com/huggingface/lerobot/pull/371
Provide more information to the user by @StarCycle in https://github.com/huggingface/lerobot/pull/358
Make sure init_hydra_config does not require any keys by @alexander-soare in https://github.com/huggingface/lerobot/pull/376
Make gripper_open_degree a config param by @alexander-soare in https://github.com/huggingface/lerobot/pull/379
Add safety limits on relative action target by @alexander-soare in https://github.com/huggingface/lerobot/pull/373
Fix videos in visualize_dataset are not in sync by @mishig25 in https://github.com/huggingface/lerobot/pull/382
Support for converting OpenX datasets from RLDS format to LeRobotDataset by @michel-aractingi in https://github.com/huggingface/lerobot/pull/354
Add koch bimanual by @Cadene in https://github.com/huggingface/lerobot/pull/385
Add the possibility to visualize language instructions in visualize_dataset_html.py by @michel-aractingi in https://github.com/huggingface/lerobot/pull/388
Fix safe_action by @aliberts in https://github.com/huggingface/lerobot/pull/395
rm EpisodeSampler from viz by @mishig25 in https://github.com/huggingface/lerobot/pull/389
repair mailto link by @kghamilton89 in https://github.com/huggingface/lerobot/pull/397
fix(act): n_vae_encoder_layers config parameter wasn't being used by @jackvial in https://github.com/huggingface/lerobot/pull/400
fix(tdmpc): Add missing save_freq to tdmpc policy config by @jackvial in https://github.com/huggingface/lerobot/pull/404
Control aloha robot natively by @Cadene in https://github.com/huggingface/lerobot/pull/316
Fix nightlies & untrack json files from git lfs by @aliberts in https://github.com/huggingface/lerobot/pull/414
Add IntelRealSenseCamera by @Cadene in https://github.com/huggingface/lerobot/pull/410
[Visualization tool] Fix videos sync by @mishig25 in https://github.com/huggingface/lerobot/pull/416
fix(calibrate): fix calibrate arms option type. should be str not int by @jackvial in https://github.com/huggingface/lerobot/pull/418
[Visualization tool] Fix when dim state != dim action by @mishig25 in https://github.com/huggingface/lerobot/pull/415
Add comments for Aloha by @Cadene in https://github.com/huggingface/lerobot/pull/417
Bug: Fix VQ-Bet not working when n_action_pred_token=1 by @Joeclinton1 in https://github.com/huggingface/lerobot/pull/420
[Vizualization] Show user error if videos codec is not supported by @mishig25 in https://github.com/huggingface/lerobot/pull/424
[Vizualization] Better UI on small screens (like in smartphones) by @mishig25 in https://github.com/huggingface/lerobot/pull/423
Raise ValueError if horizon is incompatible with downsampling by @alexander-soare in https://github.com/huggingface/lerobot/pull/422
[Vizualization] Fix video layout by @mishig25 in https://github.com/huggingface/lerobot/pull/431
[Vizualization] Better error message by @mishig25 in https://github.com/huggingface/lerobot/pull/430
Fix slow camera fps with Aloha by @Cadene in https://github.com/huggingface/lerobot/pull/433
small fix: assertion error message in envs/utils.py by @danaaubakirova in https://github.com/huggingface/lerobot/pull/426
Fix nightlies by @aliberts in https://github.com/huggingface/lerobot/pull/443
Don't use async envs by default by @alexander-soare in https://github.com/huggingface/lerobot/pull/448
Fix dataset card by @aliberts in https://github.com/huggingface/lerobot/pull/453
Enable CI for robot devices with mocked versions by @Cadene in https://github.com/huggingface/lerobot/pull/398
Add support for Stretch (hello-robot) by @aliberts in https://github.com/huggingface/lerobot/pull/409
Fix nightly by updating .cache in dockerignore by @Cadene in https://github.com/huggingface/lerobot/pull/464
Fix issue with wrong using index instead of camera_index in opencv by @helper2424 in https://github.com/huggingface/lerobot/pull/466
Add policy/act_aloha_real.yaml + env/act_real.yaml by @Cadene in https://github.com/huggingface/lerobot/pull/429
Refactor record with add_frame by @Cadene in https://github.com/huggingface/lerobot/pull/468
Make say(blocking=True) work for Linux by @alexander-soare in https://github.com/huggingface/lerobot/pull/460
Fix gymnasium version as pre-1.0.0 by @zimka in https://github.com/huggingface/lerobot/pull/471
Update 9_use_aloha.md, missing comma by @bastiankrohg in https://github.com/huggingface/lerobot/pull/479
Fix link by @ohharsen in https://github.com/huggingface/lerobot/pull/482
Add FeetechMotorsBus, SO-100, Moss-v1 by @Cadene in https://github.com/huggingface/lerobot/pull/419
Fix autocalib moss by @Cadene in https://github.com/huggingface/lerobot/pull/486
[Fix] Move back to manual calibration by @Cadene in https://github.com/huggingface/lerobot/pull/488
feat: enable to use multiple rgb encoders per camera in diffusion policy by @HiroIshida in https://github.com/huggingface/lerobot/pull/484
Fix config file by @ohharsen in https://github.com/huggingface/lerobot/pull/495
fix: broken images and a few minor typos in README by @ivelin in https://github.com/huggingface/lerobot/pull/499
Add support for Windows by @brainwavecoder9 in https://github.com/huggingface/lerobot/pull/494
bug causes error uploading to huggingface, unicode issue on windows. by @resolver101757 in https://github.com/huggingface/lerobot/pull/450
Add distinction between two unallowed cases in name check "eval_" by @J4nn1K in https://github.com/huggingface/lerobot/pull/489
Rename deprecated argument (temporal_ensemble_momentum) by @KasparSLT in https://github.com/huggingface/lerobot/pull/490
Dataset v2.0 by @aliberts in https://github.com/huggingface/lerobot/pull/461
Refactor OpenX by @michel-aractingi in https://github.com/huggingface/lerobot/pull/505
Fix missing local_files_only in record/replay by @Cadene in https://github.com/huggingface/lerobot/pull/540
Control simulated robot with real leader by @michel-aractingi in https://github.com/huggingface/lerobot/pull/514
Update 7_get_started_with_real_robot.md by @ma3oun in https://github.com/huggingface/lerobot/pull/559
LerobotDataset pushable to HF from any folder by @Raziel90 in https://github.com/huggingface/lerobot/pull/563
Fix example 6 by @aliberts in https://github.com/huggingface/lerobot/pull/572
fixing typo from 'teloperation' to 'teleoperation' by @s1lent4gnt in https://github.com/huggingface/lerobot/pull/566
[vizualizer] for LeRobodDataset V2 by @mishig25 in https://github.com/huggingface/lerobot/pull/576
Fix broken create_lerobot_dataset_card by @helper2424 in https://github.com/huggingface/lerobot/pull/590
Update README.md by @CharlesCNorton in https://github.com/huggingface/lerobot/pull/612
Fix Quality workflow by @aliberts in https://github.com/huggingface/lerobot/pull/622
fix(docs): typos in benchmark readme.md by @CharlesCNorton in https://github.com/huggingface/lerobot/pull/614
fix(visualise): use correct language description for each episode id by @villekuosmanen in https://github.com/huggingface/lerobot/pull/604
typo fix: batch_convert_dataset_v1_to_v2.py by @CharlesCNorton in https://github.com/huggingface/lerobot/pull/615
[viz] Fixes & updates to html visualizer by @mishig25 in https://github.com/huggingface/lerobot/pull/617
fixes to SO-100 readme by @philfung in https://github.com/huggingface/lerobot/pull/600
Fix for the issue https://github.com/huggingface/lerobot/issues/638 by @PradeepKadubandi in https://github.com/huggingface/lerobot/pull/639
Bumprerun-sdk dependency to 0.21.0 by @grtlr in https://github.com/huggingface/lerobot/pull/618
Fix cluster image by @aliberts in https://github.com/huggingface/lerobot/pull/653
Fix typos in lerobot/scripts/visualize_dataset.py by @tc-huang in https://github.com/huggingface/lerobot/pull/656
updating config instructions for koch 1v1 motors by @mogar in https://github.com/huggingface/lerobot/pull/658
Check for "/" in feature names by @tlpss in https://github.com/huggingface/lerobot/pull/660
Comply with torchvision 0.21 custom transforms by @aliberts in https://github.com/huggingface/lerobot/pull/665
Simplify configs by @aliberts in https://github.com/huggingface/lerobot/pull/550
fix setting motor id with new dataclass config by @pkooij in https://github.com/huggingface/lerobot/pull/668
Fix Docker cpu/gpu builds by @aliberts in https://github.com/huggingface/lerobot/pull/667
Fix nightly tests docker images by @aliberts in https://github.com/huggingface/lerobot/pull/675
User/pepijn/2025 01 31 improved tutorial so100 by @pkooij in https://github.com/huggingface/lerobot/pull/666
Add Pi0 by @Cadene in https://github.com/huggingface/lerobot/pull/681
Remove dataset tests artifacts by @aliberts in https://github.com/huggingface/lerobot/pull/701
Update CI trigger rules by @aliberts in https://github.com/huggingface/lerobot/pull/712
Remove offline training, refactor train.py and logging/checkpointing by @aliberts in https://github.com/huggingface/lerobot/pull/670
Fixes following #670 by @aliberts in https://github.com/huggingface/lerobot/pull/719
Prevent resuming from hub by @aliberts in https://github.com/huggingface/lerobot/pull/726
Fixed eval.py on MPS by @IliaLarchenko in https://github.com/huggingface/lerobot/pull/702
Fix wandb logging by @aliberts in https://github.com/huggingface/lerobot/pull/730
Add zizmor pre-commit by @aliberts in https://github.com/huggingface/lerobot/pull/732
Update pre-commits by @aliberts in https://github.com/huggingface/lerobot/pull/733
Conform pyproject to PEP 621 by @aliberts in https://github.com/huggingface/lerobot/pull/621
Remove poetry.lock by @aliberts in https://github.com/huggingface/lerobot/pull/737
Add mobile so100 by @pkooij in https://github.com/huggingface/lerobot/pull/724
LeRobotDataset v2.1 by @aliberts in https://github.com/huggingface/lerobot/pull/711
feat: Add root directory option for dataset configuration by @Haskely in https://github.com/huggingface/lerobot/pull/765
Fix the URL to setup hardware Aloha Stationary in the example document by @yongjincho in https://github.com/huggingface/lerobot/pull/766
Optimizing Dockerfile by @YoussefBayouli in https://github.com/huggingface/lerobot/pull/751
fixes in 7_get_started_with_real_robot.md by @raulgarreta in https://github.com/huggingface/lerobot/pull/677
[QOL] Enable teleoperation during environment reset by @J4nn1K in https://github.com/huggingface/lerobot/pull/725
Add typos checks by @aliberts in https://github.com/huggingface/lerobot/pull/770
Add pr style bot by @aliberts in https://github.com/huggingface/lerobot/pull/772
Fix nightly by @aliberts in https://github.com/huggingface/lerobot/pull/775
[vizualisation] Add pagination for many episodes by @mishig25 in https://github.com/huggingface/lerobot/pull/776
Fix pr_style_bot by @aliberts in https://github.com/huggingface/lerobot/pull/781
Fix pr_style bot by @aliberts in https://github.com/huggingface/lerobot/pull/782
[Vizualisation] independent column names by @mishig25 in https://github.com/huggingface/lerobot/pull/783
Fix pr_style_bot by @aliberts in https://github.com/huggingface/lerobot/pull/786
Fix style bot by @qgallouedec in https://github.com/huggingface/lerobot/pull/785
Revert "Fix pr_style_bot" by @aliberts in https://github.com/huggingface/lerobot/pull/787
Switch pyav -> av by @aliberts in https://github.com/huggingface/lerobot/pull/780
Fix dataset version tags by @aliberts in https://github.com/huggingface/lerobot/pull/790
[CI] Update Stylebot Permissions by @aliberts in https://github.com/huggingface/lerobot/pull/792
[Security] Add Bandit by @aliberts in https://github.com/huggingface/lerobot/pull/795
fix(examples): Add Tensor type check by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/799
Add step assembly tutorial by @pkooij in https://github.com/huggingface/lerobot/pull/800
refactor(test): remove duplicated code in conftest.py by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/804
[visualization] Ignore 2d or 3d data for now by @mishig25 in https://github.com/huggingface/lerobot/pull/809
change wheel setup in kinematics by @pkooij in https://github.com/huggingface/lerobot/pull/811
Add kiwi to readme by @pkooij in https://github.com/huggingface/lerobot/pull/803
Add wired instructions for LeKiwi by @pkooij in https://github.com/huggingface/lerobot/pull/814
change "actions_id_pad" to "actions_is_pad"(🐛 Bug) by @yachenkang in https://github.com/huggingface/lerobot/pull/774
Fix printout in make_cameras_from_configs by @Yadunund in https://github.com/huggingface/lerobot/pull/796
Fix doc by @timqian in https://github.com/huggingface/lerobot/pull/793
docs: update installation instructions to use uv instead of conda by @eDeveloperOZ in https://github.com/huggingface/lerobot/pull/731
chore(doc): add license header to all files by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/818
Revert "docs: update installation instructions to use uv instead of conda" by @aliberts in https://github.com/huggingface/lerobot/pull/827
chore(doc): add star history graph to the README.md by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/815
Support for discrete actions by @sandhawalia in https://github.com/huggingface/lerobot/pull/810
refactor(config): Move device & amp args to PreTrainedConfig by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/812
🐛 Remove map_location=device that no longer exists when loading DiffusionPolicy from_pretained after commit 5e94738 by @mwulfman in https://github.com/huggingface/lerobot/pull/830
Fix gpu nightly by @aliberts in https://github.com/huggingface/lerobot/pull/829
Remove pr_style_bot by @aliberts in https://github.com/huggingface/lerobot/pull/832
Fix delay in teleoperation start time by @Joeclinton1 in https://github.com/huggingface/lerobot/pull/676
Fix cpu nightly by @aliberts in https://github.com/huggingface/lerobot/pull/838
feat: add support for external plugin config dataclasses by @bsprenger in https://github.com/huggingface/lerobot/pull/807
Fix camera rotation error by @pkooij in https://github.com/huggingface/lerobot/pull/839
chore(deps): remove hydra dependency by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/842
chore(docs): update instructions for change in device and use_amp by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/843
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/844
parametrise tolerance_s in visualize_dataset scripts by @eaa3 in https://github.com/huggingface/lerobot/pull/716
Improve pre-commit config by @aliberts in https://github.com/huggingface/lerobot/pull/857
Organize test folders by @aliberts in https://github.com/huggingface/lerobot/pull/856
Add torchcodec cpu by @jadechoghari in https://github.com/huggingface/lerobot/pull/798
Update 10_use_so100.md by @liuhuanjim013 in https://github.com/huggingface/lerobot/pull/840
added wandb.run_id to allow resuming without wandb log; updated log m… by @liuhuanjim013 in https://github.com/huggingface/lerobot/pull/841
fix(codec): hot-fix for default codec in linux arm platforms by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/868
User/pepijn/2025 03 17 act different image shapes by @pkooij in https://github.com/huggingface/lerobot/pull/870
Use float32 instead of int by @pkooij in https://github.com/huggingface/lerobot/pull/877
fix(os): fix default codec for windows by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/875
add docs details for resolving firmware update issues by @jcoleharrison in https://github.com/huggingface/lerobot/pull/627
chore(scripts): remove deprecated script by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/887
fix(deps): constrain PyAV version to resolve OpenCV-python ffmpeg version conflict by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/883
fix pi0 action padding name by @Tavish9 in https://github.com/huggingface/lerobot/pull/893
Add offline mode in the configuration for wandb logging by @alexcbb in https://github.com/huggingface/lerobot/pull/897
fix(docs): hot-fix updating installation instructions after #883 by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/907
chore(docs): update docs by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/911
fix(docs): correct spelling of 'ffmpeg' in installation instructions by @yongjincho in https://github.com/huggingface/lerobot/pull/914
fix(datasets): cast imgs_dir as Path by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/915
docs: add tip for Mac users regarding Terminal permissions for keyboard by @cranberrysoft in https://github.com/huggingface/lerobot/pull/917
fix(deps): avoid torchcodec in macos x86_64 by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/925
Support for PI0+FAST by @mshukor in https://github.com/huggingface/lerobot/pull/921
typo fix: example_1 python script by @junwuzhang in https://github.com/huggingface/lerobot/pull/631
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/871
Switch typos pre-commit to mirror by @aliberts in https://github.com/huggingface/lerobot/pull/953
feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/903
fix(examples): removes extra backtick by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/948
fix(installation): adding note on ffmpeg version during installation by @CarolinePascal in https://github.com/huggingface/lerobot/pull/976
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/980
Fix broken links in examples/4_train_policy_with_script.md by @tc-huang in https://github.com/huggingface/lerobot/pull/697
Fix Windows HTML visualization to make videos could be seen by @ctbfl in https://github.com/huggingface/lerobot/pull/647
Fix --width --height type parsing on opencv and intelrealsense scripts by @apockill in https://github.com/huggingface/lerobot/pull/556
Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev by @k1000dai in https://github.com/huggingface/lerobot/pull/987
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/1011
Revert "[pre-commit.ci] pre-commit autoupdate" by @aliberts in https://github.com/huggingface/lerobot/pull/1025
fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1022
fix(ci): Pin torchcodec (==0.2.1) to fix pipeline temporarly by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1030
Update tutorial by @pkooij in https://github.com/huggingface/lerobot/pull/1021
Add description motor order SO-101 leader by @pkooij in https://github.com/huggingface/lerobot/pull/1051
feat(encoding): switching to PyAV for ffmpeg related tasks by @CarolinePascal in https://github.com/huggingface/lerobot/pull/983
feat(docs): Add new docs build process by @pkooij in https://github.com/huggingface/lerobot/pull/1046
Docs: adapt text + fix video code by @pkooij in https://github.com/huggingface/lerobot/pull/1064
Fix typos by @omahs in https://github.com/huggingface/lerobot/pull/1070
docs: minor corrections and clean-up by @pkooij in https://github.com/huggingface/lerobot/pull/1089
Update 10_use_so100.md; use diff syntax by @mishig25 in https://github.com/huggingface/lerobot/pull/944
Update 12_use_so101.md by @CharlesCNorton in https://github.com/huggingface/lerobot/pull/1081
bug fix for #1071 When --display_data=true, Failed running control_robot. by @masato-ka in https://github.com/huggingface/lerobot/pull/1073
Add editable -e for feetech install command by @pkooij in https://github.com/huggingface/lerobot/pull/1133
Fix: emptying action queue between resets by @fracapuano in https://github.com/huggingface/lerobot/pull/1117
fix: typos and grammar by @DeVikingMark in https://github.com/huggingface/lerobot/pull/1148
Update README.md by @mshukor in https://github.com/huggingface/lerobot/pull/1160
Update README.md by @mshukor in https://github.com/huggingface/lerobot/pull/1163
[Fix] Unpin torch beyond 2.6.0 & torchcodec beyond 0.2.1 by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1127
(hotfix): nightly CI by clipping pymunk version below 7.0.0 by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1182
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/1048
Add SmolVLA by @mshukor in https://github.com/huggingface/lerobot/pull/1175
Fix SmolVLA loss not sent to wandb by @ben-z in https://github.com/huggingface/lerobot/pull/1198
Hardware API redesign by @aliberts in https://github.com/huggingface/lerobot/pull/777
fix(smolvla): update record.py, fix populate_queues and remove unused dependencies by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1208
replaced OBS_ROBOT with OBS_STATE constant by @utterwqlnut in https://github.com/huggingface/lerobot/pull/1211
Fix test_teleoperate by @aliberts in https://github.com/huggingface/lerobot/pull/1216
Fix LeKiwi example by @aliberts in https://github.com/huggingface/lerobot/pull/1217
Fix smolVLA dependencies by @aliberts in https://github.com/huggingface/lerobot/pull/1218
fix(pyserial): adding pyserial dependency to global ones by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1219
Update SmolVLA README.md by @mshukor in https://github.com/huggingface/lerobot/pull/1228
Fix unable to set camera width/height to non-default by @ben-z in https://github.com/huggingface/lerobot/pull/1225
Update tutorial link by @Tiryoh in https://github.com/huggingface/lerobot/pull/1250
update KochFollower.get_observation() so it returns same observation structure as SO101 by @skalade in https://github.com/huggingface/lerobot/pull/1248
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/1185
Proposal for fix for enter_pressed on Windows by @koenvanwijk in https://github.com/huggingface/lerobot/pull/1230
fix: update pi0 dependency version constraint by @YushunXiang in https://github.com/huggingface/lerobot/pull/1247
Match motor names with ids lekiwi by @pkooij in https://github.com/huggingface/lerobot/pull/1261
fix issues: checkpoints keys mismatch and 'task' tokenisation in smolvla by @danaaubakirova in https://github.com/huggingface/lerobot/pull/1256
fix(docs): update realsense documentation by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1268
Use HF Papers by @qgallouedec in https://github.com/huggingface/lerobot/pull/1120
Skip normalization parameters in load_smolvla by @aliberts in https://github.com/huggingface/lerobot/pull/1274
fix(record): no teleop needed when running with policy by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1284
Port HIL SERL by @AdilZouitine in https://github.com/huggingface/lerobot/pull/644
fix(docs): SmolVLA fine-tuning getting started by @danaaubakirova in https://github.com/huggingface/lerobot/pull/1201
chore(teleop): print calibration path saved by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1286
chore(dependencies): add gamepad support with pygame and hidapi by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1287
Robot integration tutorial by @aliberts in https://github.com/huggingface/lerobot/pull/1285
Add sim tutorial, fix lekiwi motor config, add notebook links by @pkooij in https://github.com/huggingface/lerobot/pull/1275
Fixes on robot integration tutorial by @aliberts in https://github.com/huggingface/lerobot/pull/1290
Add keyboard teleop device to control the end effector robot by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1289
Improve type hints by @tidely in https://github.com/huggingface/lerobot/pull/1293
fix(record): no teleop arg in reset environment by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1294
learner.py import so101_leader instead of so100 by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1295
Fixing PI0 Policy by @fracapuano in https://github.com/huggingface/lerobot/pull/1297
gym_manipulator.py Remove None value action_intervention of BaseLeaderTeleoperator by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1299
Fix incorrect --resume parameter in recording documentation by @DavidLMS in https://github.com/huggingface/lerobot/pull/1301
Update lekiwi.mdx by @koenvanwijk in https://github.com/huggingface/lerobot/pull/1229
bump pi0 and hil transformers version by @fracapuano in https://github.com/huggingface/lerobot/pull/1298
docs: fix imitation learning robots docs command by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1308
fix(benchmarks): remove .numpy() from frame in benchmark script by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1354
Fix teleop disconnect during eval by @pranavsaroha in https://github.com/huggingface/lerobot/pull/1364
There can be only one!! by @jimburtoft in https://github.com/huggingface/lerobot/pull/1343
Update assembly instructions to match outputs from 'python -m lerobot.setup_motors' script by @KrzysztofSkrzypski in https://github.com/huggingface/lerobot/pull/1384
docs: SO-100, move motors configuration before assembly section by @jbcayrou in https://github.com/huggingface/lerobot/pull/1315
Feat: Improve hub integration by @pkooij in https://github.com/huggingface/lerobot/pull/1382
Add direct access to action chunks by @fracapuano in https://github.com/huggingface/lerobot/pull/1020
Add api examples IL docs by @pkooij in https://github.com/huggingface/lerobot/pull/1391
fix(recording): re-recording episode doesn't increase count of recording episodes by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1395
Fix nightlies by @aliberts in https://github.com/huggingface/lerobot/pull/1408
Package folder structure by @aliberts in https://github.com/huggingface/lerobot/pull/1417
feat: Add fixes and refactor lekiwi example by @pkooij in https://github.com/huggingface/lerobot/pull/1396
Update pyproject.toml to make package installable with pip by @gregor-pr in https://github.com/huggingface/lerobot/pull/1430
Refactor kinematics and switch to using placo by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1322
Remove references to lerobot.common by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1432
Fix unnecessary indentations by @ben-z in https://github.com/huggingface/lerobot/pull/1436
Fixes @torch.no_grad() usage by @fracapuano in https://github.com/huggingface/lerobot/pull/1455
Add Hope Jr by @aliberts in https://github.com/huggingface/lerobot/pull/935
fix(logging): Fixing logging levels by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1466
fix(hil-serl): discrete critic send through network by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1468
Add Async Inference by @fracapuano in https://github.com/huggingface/lerobot/pull/1196
Update async docs with blogpost by @fracapuano in https://github.com/huggingface/lerobot/pull/1479
fix(docs): Record-Upload failed? Don't panic! by @fracapuano in https://github.com/huggingface/lerobot/pull/1478
[Async Inference] Remove random noise injected by policy server by @ben-z in https://github.com/huggingface/lerobot/pull/1496
fix(mps): gradient exploding and nan loss issues with ACT by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1490
Fix Feetech tests by @aliberts in https://github.com/huggingface/lerobot/pull/1510
fix(record): Improve OpenCV backend handling for Windows systems by @todateman in https://github.com/huggingface/lerobot/pull/1495
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in https://github.com/huggingface/lerobot/pull/1327
Parse draccus subclass overrides when using --policy.path by @ben-z in https://github.com/huggingface/lerobot/pull/1501
Fix logging for mps in auto_select_torch_device by @helper2424 in https://github.com/huggingface/lerobot/pull/1513
Added missing licenses by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1517
[Async Inference] Add gRPC retry mechanism to Async client by @helper2424 in https://github.com/huggingface/lerobot/pull/1485
Feat/add bimanual so100 robot by @pkooij in https://github.com/huggingface/lerobot/pull/1509
Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1520
fix(hil-serl): drain queue on get_last_item_from_queue by @jpizarrom in https://github.com/huggingface/lerobot/pull/1524
feat(ci): add new & clean Dockerfiles by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1525
chore(examples): remove outdated examples by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1526
Feat: Add Batched Video Encoding for Faster Dataset Recording by @zuoxingdong in https://github.com/huggingface/lerobot/pull/1390
refactor(ci): workflows improvements by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1535
Advise placement of cable during assembly, clarify USB instructions by @koogle in https://github.com/huggingface/lerobot/pull/1545
fix(ci): multiple fixes by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1549
fix: calibration workflow when using robot_id with existing calibration files by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1528
Add disclaimer to pi0 from_pretrained by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1550
chore: bump lerobot project version to 0.2.0 by @brainwavecoder9 in https://github.com/huggingface/lerobot/pull/1515
feat(ci): add release workflow by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1562
style(deprecated method): Remove no longer used get_features_from_robot() function by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1560
Pre-commits fixes by @aliberts in https://github.com/huggingface/lerobot/pull/1568
bug(gamepad_utils) inverted axis between x and y by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1572
test(cameras): skip depth test in rs camera for latest version by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1574
[Async Inference] Merge Protos & refactoring by @helper2424 in https://github.com/huggingface/lerobot/pull/1480
fix(act): disable VAE during offline inference by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1588
feat(ci): add entrypoints + add version checks + add minimal release testing + uncomment publishing to pypi by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1589
fix: Correct parameter name in LeRobotDataset docstring by @tc-huang in https://github.com/huggingface/lerobot/pull/1310
Fixing all broken links in integrate_hardware document by @arulloomba1 in https://github.com/huggingface/lerobot/pull/1445
fix(hf hub dependency): adding ceiling version on huggingface_hub by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1608
smolfix(vla): typing and fix offline inference when action in the batch by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1597
Fix: Update minimum wandb version to resolve protobuf dependency conflict by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1604
chore(pi0fast): TODO comment to warn the need for removal ignore_index by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1593
docs/style: updating docs and deprecated links by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1584
fix(policies): remove action from batch for offline evaluation by @AdilZouitine in https://github.com/huggingface/lerobot/pull/1609
fix bug about sampling time from beta distribution by @KleistvonLiu in https://github.com/huggingface/lerobot/pull/1605
fix(config): typing correction on config.py by @LumenYoung in https://github.com/huggingface/lerobot/pull/1320
fix(tokenizers dependency): adding ceiling version on tokenizers by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1612
Fix sample beta for smolvla as done for pi0, remove sample_beta function refs by @michel-aractingi in https://github.com/huggingface/lerobot/pull/1611
fix(dependencies): removing versions ceilings on tokenizers and huggingface_hub dependencies by @CarolinePascal in https://github.com/huggingface/lerobot/pull/1618
fix(DiffusionPolicy): Fix bug where training without image features would crash with exception, fix environment state docs by @abhaybd in https://github.com/huggingface/lerobot/pull/1617
fix: add support for 180-degree rotation in camera implementations by @Rayen023 in https://github.com/huggingface/lerobot/pull/1469
Fix pi0 checkpoint state map by @YushunXiang in https://github.com/huggingface/lerobot/pull/1415
fix colab typo by @fracapuano in https://github.com/huggingface/lerobot/pull/1629
fix(ci): declare entrypoints + fix testing release by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1642
feat(ci): release workflow publish to pypi test + lock files by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1643
Update readme by @aliberts in https://github.com/huggingface/lerobot/pull/1570
fix(ci): change steps based on wheter it is a -rc tag by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1646
fix(ci): change release-name to title by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1647
fix(ci): use base tag for testpy to mimic the pyproject.toml version by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1648
chore(ci): Bump to v0.3.0 by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1649
fix(ci): remove uv run + bump minor by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1651
fix(ci): create venv for release testing by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/1652

New Contributors

@qgallouedec made their first contribution in https://github.com/huggingface/lerobot/pull/99
@kashyapakshay made their first contribution in https://github.com/huggingface/lerobot/pull/146
@eltociear made their first contribution in https://github.com/huggingface/lerobot/pull/153
@vmoens made their first contribution in https://github.com/huggingface/lerobot/pull/177
@AshisGhosh made their first contribution in https://github.com/huggingface/lerobot/pull/172
@radekosmulski made their first contribution in https://github.com/huggingface/lerobot/pull/158
@jganitzer made their first contribution in https://github.com/huggingface/lerobot/pull/235
@ruijie-he made their first contribution in https://github.com/huggingface/lerobot/pull/239
@amandip7 made their first contribution in https://github.com/huggingface/lerobot/pull/243
@tlpss made their first contribution in https://github.com/huggingface/lerobot/pull/249
@McPatate made their first contribution in https://github.com/huggingface/lerobot/pull/254
@WaelKarkoub made their first contribution in https://github.com/huggingface/lerobot/pull/252
@marinabar made their first contribution in https://github.com/huggingface/lerobot/pull/234
@thomwolf made their first contribution in https://github.com/huggingface/lerobot/pull/231
@ojh6404 made their first contribution in https://github.com/huggingface/lerobot/pull/278
@jayLEE0301 made their first contribution in https://github.com/huggingface/lerobot/pull/166
@notmahi made their first contribution in https://github.com/huggingface/lerobot/pull/301
@HalvardBariller made their first contribution in https://github.com/huggingface/lerobot/pull/343
@resolver101757 made their first contribution in https://github.com/huggingface/lerobot/pull/347
@XciD made their first contribution in https://github.com/huggingface/lerobot/pull/351
@perezjln made their first contribution in https://github.com/huggingface/lerobot/pull/359
@NielsRogge made their first contribution in https://github.com/huggingface/lerobot/pull/325
@ellacroix made their first contribution in https://github.com/huggingface/lerobot/pull/371
@StarCycle made their first contribution in https://github.com/huggingface/lerobot/pull/358
@kghamilton89 made their first contribution in https://github.com/huggingface/lerobot/pull/397
@jackvial made their first contribution in https://github.com/huggingface/lerobot/pull/400
@Joeclinton1 made their first contribution in https://github.com/huggingface/lerobot/pull/420
@zimka made their first contribution in https://github.com/huggingface/lerobot/pull/471
@bastiankrohg made their first contribution in https://github.com/huggingface/lerobot/pull/479
@ohharsen made their first contribution in https://github.com/huggingface/lerobot/pull/482
@HiroIshida made their first contribution in https://github.com/huggingface/lerobot/pull/484
@ivelin made their first contribution in https://github.com/huggingface/lerobot/pull/499
@brainwavecoder9 made their first contribution in https://github.com/huggingface/lerobot/pull/494
@J4nn1K made their first contribution in https://github.com/huggingface/lerobot/pull/489
@KasparSLT made their first contribution in https://github.com/huggingface/lerobot/pull/490
@ma3oun made their first contribution in https://github.com/huggingface/lerobot/pull/559
@Raziel90 made their first contribution in https://github.com/huggingface/lerobot/pull/563
@CharlesCNorton made their first contribution in https://github.com/huggingface/lerobot/pull/612
@villekuosmanen made their first contribution in https://github.com/huggingface/lerobot/pull/604
@philfung made their first contribution in https://github.com/huggingface/lerobot/pull/600
@PradeepKadubandi made their first contribution in https://github.com/huggingface/lerobot/pull/639
@grtlr made their first contribution in https://github.com/huggingface/lerobot/pull/618
@tc-huang made their first contribution in https://github.com/huggingface/lerobot/pull/656
@mogar made their first contribution in https://github.com/huggingface/lerobot/pull/658
@IliaLarchenko made their first contribution in https://github.com/huggingface/lerobot/pull/702
@Haskely made their first contribution in https://github.com/huggingface/lerobot/pull/765
@yongjincho made their first contribution in https://github.com/huggingface/lerobot/pull/766
@YoussefBayouli made their first contribution in https://github.com/huggingface/lerobot/pull/751
@raulgarreta made their first contribution in https://github.com/huggingface/lerobot/pull/677
@yachenkang made their first contribution in https://github.com/huggingface/lerobot/pull/774
@Yadunund made their first contribution in https://github.com/huggingface/lerobot/pull/796
@timqian made their first contribution in https://github.com/huggingface/lerobot/pull/793
@eDeveloperOZ made their first contribution in https://github.com/huggingface/lerobot/pull/731
@sandhawalia made their first contribution in https://github.com/huggingface/lerobot/pull/810
@mwulfman made their first contribution in https://github.com/huggingface/lerobot/pull/830
@bsprenger made their first contribution in https://github.com/huggingface/lerobot/pull/807
@pre-commit-ci[bot] made their first contribution in https://github.com/huggingface/lerobot/pull/844
@eaa3 made their first contribution in https://github.com/huggingface/lerobot/pull/716
@liuhuanjim013 made their first contribution in https://github.com/huggingface/lerobot/pull/840
@jcoleharrison made their first contribution in https://github.com/huggingface/lerobot/pull/627
@Tavish9 made their first contribution in https://github.com/huggingface/lerobot/pull/893
@alexcbb made their first contribution in https://github.com/huggingface/lerobot/pull/897
@cranberrysoft made their first contribution in https://github.com/huggingface/lerobot/pull/917
@junwuzhang made their first contribution in https://github.com/huggingface/lerobot/pull/631
@CarolinePascal made their first contribution in https://github.com/huggingface/lerobot/pull/976
@ctbfl made their first contribution in https://github.com/huggingface/lerobot/pull/647
@apockill made their first contribution in https://github.com/huggingface/lerobot/pull/556
@k1000dai made their first contribution in https://github.com/huggingface/lerobot/pull/987
@omahs made their first contribution in https://github.com/huggingface/lerobot/pull/1070
@masato-ka made their first contribution in https://github.com/huggingface/lerobot/pull/1073
@DeVikingMark made their first contribution in https://github.com/huggingface/lerobot/pull/1148
@ben-z made their first contribution in https://github.com/huggingface/lerobot/pull/1198
@utterwqlnut made their first contribution in https://github.com/huggingface/lerobot/pull/1211
@Tiryoh made their first contribution in https://github.com/huggingface/lerobot/pull/1250
@skalade made their first contribution in https://github.com/huggingface/lerobot/pull/1248
@koenvanwijk made their first contribution in https://github.com/huggingface/lerobot/pull/1230
@YushunXiang made their first contribution in https://github.com/huggingface/lerobot/pull/1247
@tidely made their first contribution in https://github.com/huggingface/lerobot/pull/1293
@DavidLMS made their first contribution in https://github.com/huggingface/lerobot/pull/1301
@pranavsaroha made their first contribution in https://github.com/huggingface/lerobot/pull/1364
@jimburtoft made their first contribution in https://github.com/huggingface/lerobot/pull/1343
@KrzysztofSkrzypski made their first contribution in https://github.com/huggingface/lerobot/pull/1384
@jbcayrou made their first contribution in https://github.com/huggingface/lerobot/pull/1315
@gregor-pr made their first contribution in https://github.com/huggingface/lerobot/pull/1430
@todateman made their first contribution in https://github.com/huggingface/lerobot/pull/1495
@jpizarrom made their first contribution in https://github.com/huggingface/lerobot/pull/1524
@zuoxingdong made their first contribution in https://github.com/huggingface/lerobot/pull/1390
@koogle made their first contribution in https://github.com/huggingface/lerobot/pull/1545
@arulloomba1 made their first contribution in https://github.com/huggingface/lerobot/pull/1445
@KleistvonLiu made their first contribution in https://github.com/huggingface/lerobot/pull/1605
@LumenYoung made their first contribution in https://github.com/huggingface/lerobot/pull/1320
@abhaybd made their first contribution in https://github.com/huggingface/lerobot/pull/1617
@Rayen023 made their first contribution in https://github.com/huggingface/lerobot/pull/1469

Full Changelog: https://github.com/huggingface/lerobot/commits/v0.3.2

Fetched April 7, 2026