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Published 5 months ago • verified publisher icon PathOn-AI
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Collection of Materials on LeRobot

awesome-lerobot

Step-by-step tutorial at https://learn-robotics.pathon.ai/

Tutorials:

  • General Introduction to SO-ARM100 and LeRobot: https://learn-robotics.pathon.ai/blog/soarm100
  • Using LeRobot in Simulation Environment: https://learn-robotics.pathon.ai/blog/simulation
  • Control the Open-Source Robot Arm with ACT (Action Chunking with Transformers) Using LeRobot: https://learn-robotics.pathon.ai/blog/lerobot_act
  • Control the Open-Source Robot Arm with Pi0 Using LeRobot: https://learn-robotics.pathon.ai/blog/lerobot_pi0

1. Open-Source Hardware

Platform Type Description Repository
SO-100 & SO-101 Robotic Arms Standard Open robotic arms https://github.com/TheRobotStudio/SO-ARM100
LeKiwi Mobile Manipulator Low-Cost Mobile Manipulator for so-100/101 arm https://github.com/SIGRobotics-UIUC/LeKiwi
XLeRobot Mobile Manipulator Built on top of LeKiwi https://github.com/Vector-Wangel/XLeRobot
Bambot Mobile Manipulator Built on top of LeKiwi https://github.com/timqian/bambot

2. Policy Networks

2.1 Supported model types in LeRobot

Policy Full Name Description Paper
ACT Action Chunking with Transformers Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware https://arxiv.org/abs/2304.13705
Diffusion Policy Diffusion Policy Visuomotor Policy Learning via Action Diffusion https://arxiv.org/abs/2303.04137
TD-MPC Temporal Difference Learning for Model Predictive Control Model Predictive Control with Temporal Difference Learning https://arxiv.org/abs/2203.04955
FOWM Finetuning Offline World Models Finetuning Offline World Models in the Real World https://arxiv.org/abs/2310.16029
VQ-BeT Vector-Quantized Behavior Transformer Behavior Generation with Latent Actions https://arxiv.org/abs/2403.03181
π0 Pi-Zero A Vision-Language-Action Flow Model for General Robot Control https://www.physicalintelligence.company/download/pi0.pdf

2.2 VLA

https://github.com/DelinQu/awesome-vision-language-action-model

3. Data Collection & Teleoperation

3.1 Teleoperation

There are different ways to teleoperate the follower arm

  • in lerobot package, the official way is to use a leader arm to control the follower arm
  • there are other ways to control the follower arm, like
    • using joycon: https://github.com/box2ai-robotics/joycon-robotics
    • using VR like meta quest 3: https://github.com/DipFlip/telegrip

3.2 Dataset

  • data conversion: https://github.com/Tavish9/any4lerobot
  • data explorer
  • data operation
    • data set cleaning
    • data manipulation
    • delete episode, combine dataset

4. Simulation

  • sim2real: https://github.com/StoneT2000/lerobot-sim2real
  • digital twin: https://github.com/LiZhYun/BiLerobot
  • isaac lab
    • https://www.youtube.com/live/z7KdHGkUTNE
    • https://medium.com/@kabilankb2003/setting-up-lerobot-using-api-standalone-method-in-nvidia-isaac-sim-f2b57164b0f2
    • https://medium.com/@kabilankb2003/training-so-100-robot-for-cube-lifting-in-isaac-lab-from-simulation-to-intelligent-control-with-9e81f94c6d6e

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Collection of Materials on LeRobot

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