LeRobot v0.5.0: Scaling Every Dimension

With over 200 merged PRs and over 50 new contributors since v0.4.0, LeRobot v0.5.0 is our biggest release yet — expanding in every direction at once. More robots (including our first humanoid), more policies (including the comeback of autoregressive VLAs), faster datasets, simulation environments you can load straight from the Hub, and a modernized codebase running on Python 3.12 and Transformers v5. Whether you're training policies in simulation or deploying them on real hardware, v0.5.0 has something for you.

TL;DR

LeRobot v0.5.0 adds full Unitree G1 humanoid support (whole-body control models), new policies –including Pi0-FAST autoregressive VLAs and Real-Time Chunking for responsive inference–, and streaming video encoding that eliminates wait times between recording episodes. The release also introduces EnvHub for loading simulation environments from the Hugging Face Hub, NVIDIA IsaacLab-Arena integration, and a major codebase modernization with Python 3.12+, Transformers v5, and third-party policy plugins.

LeRobot v0.5.0: Scaling Every Dimension
- TL;DR
- Table of Contents
- Hardware: More Robots Than Ever
  - Unitree G1 Humanoid
  - OpenArm & OpenArm Mini
  - More Robots
  - CAN Bus Motors
- Policies: A Growing Model Zoo
  - Pi0-FAST: Autoregressive VLAs
  - Real-Time Chunking (RTC)
  - Wall-X
  - X-VLA
  - SARM
  - PEFT Support
- Datasets: Faster Recording, Faster Training
  - Streaming Video Encoding
  - 10x Faster Image Training, 3x Faster Encoding
  - New Dataset Tools
- EnvHub: Environments from the Hub
  - NVIDIA IsaacLab-Arena
- Codebase: A Modern Foundation
- Community & Ecosystem
- Final Thoughts

Hardware: More Robots Than Ever

LeRobot v0.5.0 dramatically expands the roster of supported hardware — from arms and mobile robots to a full humanoid.

Unitree G1 Humanoid

The biggest hardware addition in this release: full Unitree G1 humanoid support. This is LeRobot's first humanoid integration, and it's comprehensive: