LeRobot v0.4.0: Supercharging OSS Robot Learning

We're thrilled to announce a series of significant advancements across LeRobot, designed to make open-source robot learning more powerful, scalable, and user-friendly than ever before! From revamped datasets to versatile editing tools, new simulation environments, and a groundbreaking plugin system for hardware, LeRobot is continuously evolving to meet the demands of cutting-edge embodied AI.

TL;DR

LeRobot v0.4.0 delivers a major upgrade for open-source robotics, introducing scalable Datasets v3.0, powerful new VLA models like PI0.5 and GR00T N1.5, and a new plugin system for easier hardware integration. The release also adds support for LIBERO and Meta-World simulations, simplified multi-GPU training, and a new Hugging Face Robot Learning Course.

Table-of-Contents

LeRobot v0.4.0: Supercharging OSS Robot Learning
- TL;DR
- Table-of-Contents
- Datasets: Ready for the Next Wave of Large-Scale Robot Learning
  - What's New in Datasets v3.0?
  - New Feature: Dataset Editing Tools!
- Simulation Environments: Expanding Your Training Grounds
  - LIBERO Support
  - Meta-World Integration
- Codebase: Powerful Tools For Everyone
  - The New Pipeline for Data Processing
  - Multi-GPU Training Made Easy
- Policies: Unleashing Open-World Generalization
  - PI0 and PI0.5
  - GR00T N1.5
- Robots: A New Era of Hardware Integration with the Plugin System
  - Key Benefits
  - Reachy 2 Integration
  - Phone Integration
- The Hugging Face Robot Learning Course
  - Deep Dive: The Modern Robot Learning Tutorial
- Final thoughts from the team

Datasets: Ready for the Next Wave of Large-Scale Robot Learning

We've completely overhauled our dataset infrastructure with LeRobotDataset v3.0, featuring a new chunked episode format and streaming capabilities. This is a game-changer for handling massive datasets like OXE (Open X Embodiment) and Droid, bringing unparalleled efficiency and scalability.