Installation

Install LeRobot

Currently only available from source.

Download our source code:

git clone https://github.com/huggingface/lerobot.git
cd lerobot

Create a virtual environment with Python 3.10, using Miniconda

conda create -y -n lerobot python=3.10

Then activate your conda environment, you have to do this each time you open a shell to use lerobot:

conda activate lerobot

When using miniconda, install ffmpeg in your environment:

conda install ffmpeg -c conda-forge

This usually installs ffmpeg 7.X for your platform compiled with the libsvtav1 encoder. If libsvtav1 is not supported (check supported encoders with ffmpeg -encoders), you can:

Install 🤗 LeRobot:

pip install -e .

Troubleshooting

If you encounter build errors, you may need to install additional dependencies: cmake, build-essential, and ffmpeg libs. To install these for linux run:

sudo apt-get install cmake build-essential python-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev pkg-config

For other systems, see: Compiling PyAV

Optional dependencies

LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., .[aloha,feetech]). For all available extras, refer to pyproject.toml.

Simulations

Install environment packages: aloha (gym-aloha), xarm (gym-xarm), or pusht (gym-pusht) Example:

pip install -e ".[aloha]" # or "[pusht]" for example

Motor Control

For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.

pip install -e ".[feetech]" # or "[dynamixel]" for example

Experiment Tracking

To use Weights and Biases for experiment tracking, log in with

wandb login
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