LeRobot: An Open-Source Library for End-to-End Robot Learning

TL;DR

LeRobot is an open-source, comprehensive library that streamlines the development and deployment of robot learning algorithms across the entire robotics stack, promoting accessibility and scalability.

Contribution

It introduces a unified, extensible platform integrating hardware control, data management, and learning algorithms to accelerate research and application in robot learning.

Findings

Supports scalable, data-driven learning methods

Enables real-world robotics with accessible hardware

Provides a unified, open-source framework

Abstract

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.