LeRobot

Hugging Face's open-source PyTorch library for training and deploying AI models on physical robots.

LeRobot is Hugging Face's open-source toolkit designed to lower the barrier to entry for real-world robotics using PyTorch. The library provides state-of-the-art imitation and reinforcement learning algorithms (like Diffusion Policy and ACT) alongside pre-trained models, simulation environments, and datasets. By decoupling control logic from hardware via a unified Robot class, LeRobot seamlessly supports affordable, 3D-printed hardware like the SO-100 and SO-101 arms, as well as complex platforms like the Unitree G1. It gives developers a single, cohesive workflow to record human demonstrations, train models, and deploy vision-language-action policies directly to physical devices.

https://github.com/huggingface/lerobot