Release v0.5.1

What's Changed

• chore(dependencies): Bump lerobot to 0.5.1 by @imstevenpmwork in #3118
• fix(unitree_g1): correct SDK detection and update installation docs by @nepyope in #3115
• docs: fix HF_USER to ignore bash ANSI codes by @j3soon in #3119
• chore(dependencies): Increase opencv-python-headless upper bound by @traversaro in #3120
• Fix action padding key at SmolVLA by @ymd-h in #1717
• Update Dockerfile.user by @heuzef in #1633
• fix(policies): crop losses based on the action dof by @imstevenpmwork in #3133
• Add option to disable tags on WandB by @brunomachado37 in #1339
• fix(links): replacing relative links with absolute links in the contribution guide by @CarolinePascal in #3141
• fix(script help): fixing lerobot-train --help by removing % in the docstrings by @CarolinePascal in #3161
• chore(dependecies): untangle dependecies across internal modules by @imstevenpmwork in #3149
• refactor(datasets): module cleanup by @imstevenpmwork in #3169
• chore(dataset): basic house-keeping by @imstevenpmwork in #3170
• refactor(dataset): modular files by @imstevenpmwork in #3171
• Fix/earth rover dataset features by @s1lent4gnt in #3088
• fix(vqbet): use in-place fill_ to avoid overwriting DDP GPU buffers with CPU tensors by @Altman-conquer in #3128
• fix(links): update GitHub issues link in async docs by @0xPraedico in #3186
• chore(docs): add rename map and empty cam guide by @jadechoghari in #3065
• refactor(dataset): split LeRobotDataset into DatasetReader & DatasetWriter (+ API cleanup) by @imstevenpmwork in #3180
• fix(logging): suppress noisy httpx INFO logs by @reeceomahoney in #3173
• fix(deps): breaking change from transformers 5.4.0 by @Maximellerbach in #3231
• chore(docs): add more guidance to bring your own policies tutorial by @Maximellerbach in #3230
• fix(dataset): use revision-safe Hub cache for downloaded datasets by @imstevenpmwork in #3233
• Feature/add multitask diffusion transformer policy implementation by @brysonjones in #2545
• fix(datasets): remove unreachable timestamp branch in add_frame by @SevenFo in #3163
• feat(scripts): add transformers version by @imstevenpmwork in #3248
• Revert "fix(deps): breaking change from transformers 5.4.0" by @imstevenpmwork in #3249
• Fix SO-101 assembly instruction order to match videos by @jaikr-dev in #3242
• feat(policies): add relative action support for pi0, pi0.5, and pi0_fast by @pkooij in #2970
• Add create reward visualization by @pkooij in #3155
• docs(toctree): add Benchmarks section for LIBERO and Meta-World by @pkooij in #3268
• feat(dagger): Add HIL/Dagger/HG-Dagger/RaC style data collection by @pkooij in #2833
• docs(benchmarks): add benchmark integration guide and standardize benchmark docs by @pkooij in #3270
• docs(policy): fix gr00t license docs by @imstevenpmwork in #3284
• chore(dependencies): bump minimum torch from 2.2.1 to 2.7 by @CarolinePascal in #3156
• chore(docs): no policy readme in src code by @imstevenpmwork in #3286
• chore(policy): multi dit docs by @imstevenpmwork in #3285
• feat(ci): add uv.lock by @imstevenpmwork in #3292
• docs(ci): add readme for dockerfile by @imstevenpmwork in #3295
• fix(ci): latest deps tests permissions by @imstevenpmwork in #3296
• chore(dependencies): update uv.lock by @imstevenpmwork in #3302
• chore(docs): new badge for readme by @imstevenpmwork in #3303
• fix(scripts): Update action values when running robot without interpolation by @anthonyhchan in #3281
• feat(dataset): registering torchvision transforms by @fracapuano in #3153
• 🔒 Pin GitHub Actions to commit SHAs by @paulinebm in #3265

New Contributors

• @j3soon made their first contribution in #3119
• @traversaro made their first contribution in #3120
• @ymd-h made their first contribution in #1717
• @heuzef made their first contribution in #1633
• @brunomachado37 made their first contribution in #1339
• @Altman-conquer made their first contribution in #3128
• @0xPraedico made their first contribution in #3186
• @SevenFo made their first contribution in #3163
• @anthonyhchan made their first contribution in #3281

Full Changelog: v0.5.0...v0.5.1

Release v0.5.0

Release Blog

https://huggingface.co/blog/lerobot-release-v050

What's Changed

• chore(dependencies): Bump lerobot to 0.4.5 by @imstevenpmwork in #3051
• chore: add AI policy by @imstevenpmwork in #3055
• Improve policy_device documentation for async.mdx by @btelles in #3060
• fix(frame_index): making rerun's "frame_index" timeline compatible with behaviour1k datasets by @CarolinePascal in #3068
• fix(dataset edit tools): clarifying root argument usage + adding related features by @CarolinePascal in #3049
• chore(root): fixing root semantics in convert_dataset script by @CarolinePascal in #3073
• chore(docs): updating deprecated huggingface-cli to hf by @Maximellerbach in #3071
• Fixing metadata indexing when writing new Parquet file by @skiingpacman in #2941
• chore(docstrings): updating v2.1-v3.0 conversion script docstrings to match the new task label by @CarolinePascal in #3077
• chore(dependencies): bump transformers v5 by @imstevenpmwork in #2964
• fix(ci): log in HF for gated repo in nightly workflows by @imstevenpmwork in #3089
• fix(num_frames): fixing redundant frames count in conversion script by @CarolinePascal in #3091
• Feat/slurm compute rabc script by @pkooij in #3041
• fix(ci): test only multi-gpu tests in multi-gpu runner by @imstevenpmwork in #3092
• feat(dependencies): require Python 3.12+ as minimum version by @imstevenpmwork in #3023
• chore(dependencies): sync intelrealsense + added notes by @imstevenpmwork in #3094
• chore(docs): remove pi installation note by @imstevenpmwork in #3095
• fix(ci): skip HF log in (and tests) in forks and community PRs by @imstevenpmwork in #3097
• fix(async_inference): restore robot module imports in robot_client.py by @aShunSasaki in #3081
• feat(robots): Unitree G1 WBC implementation by @nepyope in #2876
• feat(train): add cudnn_deterministic option for reproducible training by @imgeorgiev in #3102
• chore(docs): add uv installation instructions by @imstevenpmwork in #3105
• chore(readme): update citation with ICLR26 paper by @imstevenpmwork in #3107
• test(cameras): skip flaky async_read test by @imstevenpmwork in #3106
• chore(deps): update requirements file by @imstevenpmwork in #3114
• chore(dependencies): Bump lerobot to 0.5.0 by @imstevenpmwork in #3117

New Contributors

• @btelles made their first contribution in #3060
• @Maximellerbach made their first contribution in #3071
• @skiingpacman made their first contribution in #2941
• @aShunSasaki made their first contribution in #3081
• @imgeorgiev made their first contribution in #3102

Full Changelog: v0.4.4...v0.5.0

Release v0.4.4

What's Changed

• chore(dependencies): Bump lerobot to 0.4.4 by @imstevenpmwork in #2840
• feat(ci): trigger manually documentation release version by @imstevenpmwork in #2841
• fix(robots): update gripper configuration and calibration settings for OMX by @Woojin-Crive in #2815
• feat(envs): Add task ids to libero env cfg by @reeceomahoney in #2842
• feat(motors): add damiao motors & can bus by @imstevenpmwork in #2788
• Add robot images to docs by @pkooij in #2862
• docs: update libero by @reeceomahoney in #2857
• Fix(aggregate.py) Aggregation of datasets when sub-datasets are already a result of a previous merge by @michel-aractingi in #2861
• feat(robots): add OpenArm robot & teleoperator by @imstevenpmwork in #2795
• add g1 teleoperation by @nepyope in #2791
• feat(robots): add bi manual openarm follower and leader by @imstevenpmwork in #2835
• refactor(cameras): cameras API extension by @imstevenpmwork in #2808
• fix(sac): make temperature a property to fix checkpoint resume bug by @michel-aractingi in #2877
• Feat(dataset_tools.py) Add modify tasks tool by @michel-aractingi in #2875
• docs(cameras): revising and improving docs on cameras by @CarolinePascal in #2878
• fix(find zmq): adding a clearer not implemented warning for the ZMQ find_cameras method by @CarolinePascal in #2879
• feat(dataset): add subtask support by @jadechoghari in #2860
• docs: update document in response to Simplify configs PR by @HiroIshida in #1596
• Add missing RL config options: add_ee_pose_to_observation and gripper_penalty_in_reward by @michel-aractingi in #2873
• Limit W&B tag length to comply with 64‑character limit by @iory in #995
• Small docstring fix in diffusion configuration by @jwang078 in #2847
• feat(datasets): improve image transform support by @reeceomahoney in #2885
• fix(policies): wandb warning during smolvla training by @reeceomahoney in #2903
• fix(scripts): correct can import check by @imstevenpmwork in #2937
• fix(pipeline): use FeatureType for STATE features in Libero processor by @stepanfeduniak in #2888
• Change LIBERO init_state_id when reset. by @AoqunJin in #2899
• docs: clarify installation steps are sequential, not optional by @jaikr-dev in #2925
• [Bug Fix] fix(ci): prevent runner group error on fork pushes by @whats2000 in #2911
• chore(linter): ensure motors module passes MyPy type checks by @imstevenpmwork in #2939
• chore: use is_connected decorators by @imstevenpmwork in #2948
• fix(motors): use decorator to fix precommit by @imstevenpmwork in #2951
• feat(cameras): make backend configurable to the CLI by @imstevenpmwork in #2945
• Fixing wrong argparse examples in the comments (using 'True' not 'true') by @taken-yjyoon in #1040
• fix(dataset tools draccus): fixing draccus parsing for dataset edit operation type specification by @CarolinePascal in #2949
• Always use degrees by @pkooij in #2968
• feat(datasets): Add info operation to lerobot-edit-dataset command by @masato-ka in #2917
• (Chore) Bump upper bound for torch version by @sovrasov in #2897
• fix(scripts): serve grpc for a web viewer by @sotanakamura in #2881
• fix(docs): update env variable LEROBOT_HOME to HF_LEROBOT_HOME by @tc-huang in #2973
• fix(utils): more conservative sleep_margin default value in precise_sleep by @imstevenpmwork in #2985
• chore(scripts): warn if we don't respect the target FPS by @imstevenpmwork in #2986
• fix(filtering): fixing episodes filtering in load_nested_dataset to always use .from_parquet() by @CarolinePascal in #2982
• feat(robots): use read_latest() camera by @imstevenpmwork in #2987
• chore: remove usernames + use entrypoints in docs, comments & sample commands by @imstevenpmwork in #2988
• Fix gym-hil integration with the new LeRobot pipeline. by @s1lent4gnt in #2482
• chore(deps): bump ceil datasets by @imstevenpmwork in #2946
• feat(dataset): add streaming video encoding + HW encoder support by @imstevenpmwork in #2974
• Add metadata_buffer_size to dataset creation by @yuecideng in #2998
• feat(motors): add RobStride CAN implementation by @imstevenpmwork in #2821
• chore(docs): update the document for Phone teleop to clarify how to use the examples by @ynaka81 in #2991
• fix/docs: small comment change by @gui-miotto in #2990
• docs: fix HF_USER export command to correctly parse username by @WilbertYuan in #2932
• docs: add WSL evdev installation note by @DominikPalo in #2855
• feat: Enable torch.compile for DiffusionPolicy inference by @jashshah999 in #2486
• fix(ci): permissions triton by @imstevenpmwork in #3011
• feat(scripts): Integrate tqdm for training progress visualization by @imstevenpmwork in #3010
• fix(dataset): Fix reindexing bug for videos on splits by @mkiefel in #2548
• Fix metaworld_config.json missing from pip installs and AttributeError crash by @jashshah999 in #3017
• fix(video): replace assertions with proper exceptions in video frame decoding by @jashshah999 in #3016
• Fix SARM dense_only mode: always load episodes_df for target computation by @s1lent4gnt in #3021
• feat: add visualization badge to card template and update dataset card creation with repo_id by @mishig25 in #3005
• fix(policies): support dp train when n_obs_steps=1 by @Hukongtao in #2430
• Feat(teleoperators): add OpenArm Mini teleoperator by @s1lent4gnt in #3022
• Fix: remove device_map from SmolVLA model loading by @s1lent4gnt in #3029
• feat(async_inference) Enable plugins with async inference by @IamPhytan in #2425
• fix(datasets): only warn in MultiLeRobotDataset when features differ by @thatmich in #3019
• chore(scripts): no spam log when no action by @imstevenpmwork in #3042
• fix(scripts): register OpenArm Mini in all lerobot CLI scripts by @s1lent4gnt in #3028
• feat(policies): add Smolvla torch compile support by @jadechoghari in #3043
• Fix(diffusion): enforce no-crop behavior when crop_ratio=1.0 by @s1lent4gnt in #3046
• fix(logging): avoid double-counting samples across processes by @pkooij in #3045
• chore(docstrings): fixing deprecated root argument description in LeRobotDataset class by @CarolinePascal in #3035

New Contributors

• @reeceomahoney made their first contribution in #2842
• @iory made their first contribution in #995
• @jwang078 made their first contribution in #2847
• @stepanfeduniak made their first contribution in #2888
• @AoqunJin made their first contribution in #2899
• @jaikr-dev made their first contribution in #2925
• @whats2000 made their first contribution in #2911
• @taken-yjyoon made their first contribution in #1040
• @yuecideng made their first contribution in https:...

Release v0.4.3

What's Changed

• chore(dependencies): Bump lerobot to 0.4.3 by @imstevenpmwork in #2540
• fix(scripts): remove the data sampler because data access to the subset of a dataset has been fixed by @sotanakamura in #2521
• Feat/add unitree g1 robot by @nepyope in #2530
• fix(ci): move hub artifacts to /mnt to avoid runners' No space left on device by @imstevenpmwork in #2564
• fix pi05 forward compile by @michel-aractingi in #2551
• Make transport module Mypy Compliant [issue#1731] by @sezan92 in #2433
• feat(policies): Allow users to register 3rd party policies - pip install lerobot_policy_mypolicy by @danielsanjosepro in #2308
• doc: fix wrong package name in installation doc by @yanghua in #2513
• Earth Rover Mini Plus integration by @s1lent4gnt in #2544
• Revert "Earth Rover Mini Plus integration" by @imstevenpmwork in #2574
• feat(policies): Add X-VLA by @jadechoghari in #2405
• feat(robots): Earth Rover Mini Plus integration by @imstevenpmwork in #2575
• fix(docs): remove duplicated package in install instructions by @imstevenpmwork in #2573
• Fix link to lerobot-train script in documentation by @cagataycali in #2466
• chore(docs): reorganize assembly instructions setup before assembly by @ozten in #2333
• Fix argument typo in async inference documentation by @kevinjosethomas in #2361
• fix(scripts): missing so101 import by @imstevenpmwork in #2577
• Add a documentation page with a brief intro to hw backends by @sovrasov in #2385
• Fix video indexing bugs in dataset aggregation with multi video datatasets by @michel-aractingi in #2550
• chore(ci): skip workflows if not lerobot repository by @imstevenpmwork in #2601
• Fix torch.compile in diffusion sampling loops at inference time by @michel-aractingi in #2600
• feat(dataset): add tool to convert images to video datasets by @jadechoghari in #2560
• Docs: Update X-VLA training strategies/commands by @jadechoghari in #2611
• enable variable image sizes to pi0/pi0.5 by @michel-aractingi in #2609
• docs: add auto in docs for xvla by @jadechoghari in #2645
• feat(robot): Add support for OMX robot by @Woojin-Crive in #2614
• Feat/add mj env by @nepyope in #2613
• docs: update IL robots API example and add OpenCV workaround by @cagataycali in #2648
• fix(scripts): finalize the dataset after recording by @sotanakamura in #2496
• feat(dataset): expose tolerance_s argument to training config by @imstevenpmwork in #2653
• fix(policies): add device back to smolvlm expert by @imstevenpmwork in #2662
• feat(scripts): add more info to lerobot-info by @imstevenpmwork in #2663
• docs(dataset): add visualization section by @imstevenpmwork in #2664
• chore(ci): update PR template by @imstevenpmwork in #2665
• feat(ci): simple automatic labelling by @imstevenpmwork in #2667
• chore(ci): update issue template by @imstevenpmwork in #2666
• fix(ci): better heuristic + issue type template fix by @imstevenpmwork in #2672
• fix(ci): close bracket pattern by @imstevenpmwork in #2674
• chore(ci): minor improvements auto labeling by @imstevenpmwork in #2675
• chore(ci): minor improvement bug-report template & pr auto label by @imstevenpmwork in #2676
• Add sarm by @pkooij in #2639
• feat(docs): modernize readme by @imstevenpmwork in #2660
• Fixes ReadMe Policies Classification by @fracapuano in #2682
• fix(optim): enable and resolve mypy type errors by @cverrier in #2683
• Add readme by @pkooij in #2698
• feat: support wallx model by @wut19 in #2593
• modify the README file for wallx by @wut19 in #2705
• chore: modernize contributing.md by @imstevenpmwork in #2677
• use syslink for wall-x readme by @pkooij in #2708
• pi fixes for dependencies by @pkooij in #2706
• feat(ci): adds release versioning to docs by @imstevenpmwork in #2709
• chore(ci): make keyword matching more conservative by @imstevenpmwork in #2711
• Upgrade GitHub Actions for Node 24 compatibility by @salmanmkc in #2691
• fix: use importlib.metadata for plugin discovery to support PEP 660 by @aalvan in #2687
• resolve path for RABC correctly by @pkooij in #2710
• chore: adds dynamic README handling and setup script by @imstevenpmwork in #2724
• feat(pi0): add train_expert_only and freeze_vision_encoder flags to pi0 and pi0.5 by @pxe3 in #2727
• feat(envs): Add NVIDIA IsaacLab-Arena Lerobot by @nv-sachdevkartik in #2699
• IsaacLab Arena Integration documentation update by @liorbenhorin in #2749
• chore(readme): update discord invitation link by @imstevenpmwork in #2750
• Add basic PEFT support to train script + record module by @githubnemo in #1411
• Fix invalid syntax by @pkooij in #2752
• fix a bug for kwargs in wallx by @wut19 in #2714
• docs: LightWheel to Lightwheel by @jadechoghari in #2758
• fix: precise_sleep is never called with negative value by @imstevenpmwork in #2757
• refactor(ci): Docker Hub image env by @paulinebm in #2755
• chore(dependencies): bound new dependecies by @imstevenpmwork in #2759
• add holosoma locomotion by @nepyope in #2669
• feat(visualization): allow remote viewer + compress rerun images by @imstevenpmwork in #2756
• Revert "feat(visualization): allow remote viewer + compress rerun images" by @imstevenpmwork in #2766
• feat(visualization): allow remote viewer + compress rerun images by @imstevenpmwork in #2767
• feat(robots): consolidate SO arms implementation by @imstevenpmwork in #2763
• chore(docs): update code block syntax to specify python for clarity by @imstevenpmwork in #2770
• feat(datasets): expose video codec option for dataset recording by @leot13 in #2771
• skip peft cmd test in cli by @pkooij in #2776
• feat(policies): add autoregressive VLAs with tokenization PiFast by @jadechoghari in #2734
• Fix: Respect policy.device=cpu config in training by @michel-aractingi in #2778
• docs: improve assets by @jadechoghari in #2777
• feat(robots): consolidates bi SO setups by @imstevenpmwork in #2780
• Feat/g1 improvements record sim by @nepyope in #2765
• fix(robots): add reachy2 fixes by @imstevenpmwork in #2783
• Move cfg.validate() earlier to fix NoneType error with --policy.path by @samet-rob in #2782
• fix: train tokenizer CLI entry point by @jadechoghari in #2784
• chore: use alias & constants by @imstevenpmwork in #2785
• fix(teleop): add is_connected check to get_action by @imstevenpmwork in #2801
• chore(ci): merge annoying section in PR template by @imstevenpmwork in https://git...

Release v0.4.2

What's Changed

• chore(dependencies): Bump lerobot to 0.4.2 by @imstevenpmwork in #2423
• Fixes in port droid scripts by @michel-aractingi in #2455
• Fix episode filtering bug when requesting a subset of the episodes in a dataset by @michel-aractingi in #2456
• [RTC] Real Time Chunking for Pi0, Smolvla, Pi0.5 by @helper2424 in #1698
• feat(envs): add envs pre-post processor by @jadechoghari in #2474
• Add absolute_to_reative_idx for remapping indices to fix delta_timestamp bug by @michel-aractingi in #2490
• docs: Add LeIsaac x LeRobot Envhub tutorial by @jadechoghari in #2498
• feat(dataset): speed-up encoding time by @imstevenpmwork in #2514
• feat(dataset): dynamic compress_level depending on the type of dataset (video or image) by @imstevenpmwork in #2517
• fix(examples): wrap all of them into a main function by @imstevenpmwork in #2524
• feat(parallel encoding): making parallel encoding the default choice over all platforms by @CarolinePascal in #2525
• fix(benchmark) : fixing video benchmark by @CarolinePascal in #2094
• feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy by @imstevenpmwork in #2526
• fix(scripts): better prints teleop by @imstevenpmwork in #2538

Full Changelog: v0.4.1...v0.4.2

Release v0.4.1

What's Changed

• chore(dependecies): Bump lerobot to 0.4.1 by @imstevenpmwork in #2299
• docs(readme): update installation instructions for 0.4.0 by @imstevenpmwork in #2310
• docs(install): improve groot and libero installation instructions by @imstevenpmwork in #2314
• fix(video_key typo): fixing video_key typo in update_video_info by @CarolinePascal in #2323
• fix(make_policy): rename mapping edge cases in training by @jadechoghari in #2332
• dep(upgrade): add libero as a pypi package by @jadechoghari in #2365
• feat(sim): EnvHub - allow loading envs from the hub by @jadechoghari in #2121
• fix(dataset_tools) Critical bug in modify features by @michel-aractingi in #2342
• fix(dataset): fix data access bottleneck for faster training by @imstevenpmwork in #2408
• chore(installation): remove libero installation patch by @imstevenpmwork in #2416

Full Changelog: v0.4.0...v0.4.1

Release v0.4.0

Release Blog

https://huggingface.co/blog/lerobot-release-v040

What's Changed

• chore: Bump to 0.3.4 by @imstevenpmwork in #1691
• chore(docs): prioritize use of entry points in docs + fix nightly badge by @imstevenpmwork in #1692
• fix(busy_wait): fix busy_wait implementation for Windows platforms by @CarolinePascal in #1695
• fix(ci): inverted names by @imstevenpmwork in #1705
• fix(ci): rename libegl1-mesa in deb13 trixie by @imstevenpmwork in #1735
• fix: Add missing dynamixel encoding table entries by @jackvial in #1534
• fix(dataset): Correctly use episode_data parameter in save_episode by @lxk-221 in #1740
• Removed dupicate lines of code by @mgiac-hexagon in #1709
• Add feetech firmware update docs by @pkooij in #1793
• Lower limits by 50% for current and torque for gripper motor by @pkooij in #1809
• Allow max_relative_target to be a float by @jstnhuang in #1837
• 2 add reachy 2 to updated lerobot by @glannuzel in #1767
• fix (koch): Disable motor torque before applying calibration logic by @Gongsta in #1889
• fix(scripts): revert deletion of rs cam config import introduced by #1767 by @imstevenpmwork in #1876
• Dataset v3 by @michel-aractingi in #1412
• Add Streaming Dataset by @fracapuano in #1613
• Update dataset card by default by @michel-aractingi in #1936
• docs(dataset): add dataset v3 documentation by @jadechoghari in #1956
• feat(processors): use pipelines across the codebase by @AdilZouitine in #1452
• small tiny nit by @fracapuano in #1975
• fix (docs): image link for phone by @pkooij in #1977
• bump gym-hil version to be pipeline compatible by @michel-aractingi in #1983
• Add docs for LeRobot Image transforms by @pkooij in #1972
• fix formatting readme by @pkooij in #1987
• bump datasets to 4.0.0 by @michel-aractingi in #1990
• fix(trainer): overrides device to the target device, for the device processor on the preprocessor by @AdilZouitine in #1993
• feat(sim): Add Libero Env by @jadechoghari in #1984
• feat(ci): add stale GH action bot for stalled issues & PRs by @imstevenpmwork in #1996
• chore(ci): update time for stale issue/pr by @imstevenpmwork in #1997
• Updated Readme removed broken link by @complete-dope in #1989
• Fix: Resolve PermissionError and UnicodeDecodeError in Python scripts by @JivinDotL in #1980
• fix(dataset): cast fps to int instead of float by @imstevenpmwork in #2001
• chore(rl): move rl related code to its directory at top level by @imstevenpmwork in #2002
• docs(rl): fix path by @imstevenpmwork in #2004
• refactor(scripts): update system info script by @imstevenpmwork in #2005
• feat(script): add entry point for dataset viz by @imstevenpmwork in #2006
• feat(script): add entry point for image transform viz by @imstevenpmwork in #2007
• chore: move constants to utils by @imstevenpmwork in #2016
• chore: move errors to utils by @imstevenpmwork in #2017
• chore(scripts): move find_cameras to scripts by @imstevenpmwork in #2018
• feat(script): add entry point for find joints limits by @imstevenpmwork in #2010
• chore(scripts): move find_port to scripts by @imstevenpmwork in #2019
• chore(scripts): move teleop to scripts by @imstevenpmwork in #2023
• chore(scripts): move record to scripts by @imstevenpmwork in #2022
• chore(scripts): move calibrate to scripts by @imstevenpmwork in #2024
• chore(scripts): move setup_motors to scripts by @imstevenpmwork in #2020
• chore(scripts): move replay to scripts by @imstevenpmwork in #2021
• chore(async): move async related code to its directory at top level by @imstevenpmwork in #2003
• chore(ci): update stale message by @imstevenpmwork in #2027
• fix(docs): update outdated links by @imstevenpmwork in #2026
• chore(utils): move benchmark and buffer to their respective modules by @imstevenpmwork in #2028
• chore(utils): move encoding utils and process to their respective modules by @imstevenpmwork in #2029
• chore(utils): remove unused utils legacy functions + rename init_rerun by @imstevenpmwork in #2031
• chore(utils): move queue utils and wandb_utils to their respective modules by @imstevenpmwork in #2030
• (docs): small change in dataset name by @jadechoghari in #2032
• chore(scripts): rename eval and train scripts by @imstevenpmwork in #2033
• chore: replace hard-coded obs values with constants throughout all the source code by @imstevenpmwork in #2037
• chore(mypy): add mypy configuration and module overrides for gradual type checking by @AdilZouitine in #2052
• chore: replace hard-coded action values with constants throughout all the source code by @imstevenpmwork in #2055
• Bug in conversion from v2.1 script by @michel-aractingi in #2057
• chore: replace hard-coded next values with constants throughout all the source code by @imstevenpmwork in #2056
• chore(utils): remove unused code by @imstevenpmwork in #2059
• Fix(train): add processor overrides with normalizer and unnormalizer stats by @AdilZouitine in #2038
• docs(fix): libero example command by @jadechoghari in #2060
• Save Cropped Dataset to Hub by @fracapuano in #2071
• Fix video concat path by @Tavish9 in #2076
• chore: remove unused code by @imstevenpmwork in #2062
• Improve V3 aggregate implementation by @Tavish9 in #2077
• chore: enable pyugrade ruff lint by @imstevenpmwork in #2084
• chore: enable simplify in ruff lint by @imstevenpmwork in #2085
• feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep by @AdilZouitine in #2087
• Revert feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep (#2087) by @AdilZouitine in #2089
• feat(policies): add noise parameter to action prediction methods by @AdilZouitine in #2063
• feat(train): include input and output features in processor overrides for normalization by @AdilZouitine in #2090
• fix(video_path): setting video_path to None during conversion for images datasets by @CarolinePascal in #2095
• feat(mypy): enable type checking for envs module and configure mypy settings in pyproject.toml by @AdilZouitine in #2099
• feat(mypy): configure mypy settings and add module overrides for gradual typing by @AdilZouitine in #2101
• Making Envs module pass MyPy checks by @iakhil in #2048
• Add OpenPi, Pi0 and Pi0.5 by @pkooij in #1910
• (chore) improve v3 message, allow converting local datasets to V3 by @michel-aractingi in #1948
• fix bug in augment_dataset_quantile_stats.py that was not detecting… by @michel-aractingi in https://github.com/hu...

Release v0.3.3

What's Changed

• chore: Bump to 0.4.0 by @imstevenpmwork in #1653
• Fix policy construction by @fracapuano in #1665
• fix(docs): Update links in il_robots.mdx and il_sim.mdx to use absolute URLs by @tc-huang in #1313
• fix(typo): fixing typo in LeRobot authors names by @CarolinePascal in #1673
• docs: update installation instructions by @imstevenpmwork in #1686
• feat(pipeline): universal processor for LeRobot by @AdilZouitine in #1431
• fix(deps): ceil torch pkg versions by @imstevenpmwork in #1689
• chore: Bump to 0.3.3 by @imstevenpmwork in #1690

Full Changelog: v0.3.2...v0.3.3

Release v0.3.2

What's Changed

• Added poetry setup by @aliberts in #2
• Style & Formatting by @aliberts in #3
• Added pusht dataset auto-download by @aliberts in #4
• Add run on cpu-only compatibility by @aliberts in #5
• Make diffusion work by @Cadene in #6
• Add CI, Remove old install files by @aliberts in #8
• Add AbstractReplayBuffer by @Cadene in #7
• Add Aloha replay buffer + 4 sim datasets by @Cadene in #9
• Fix env tests by @Cadene in #10
• Add pusht test artifact by @aliberts in #12
• Add end-to-end pusht eval test by @aliberts in #15
• Integrate diffusion policy by @aliberts in #16
• Fix bugs with normalization by @Cadene in #17
• Configure wandb entity outside config by @aliberts in #19
• Add license by @aliberts in #20
• Add dynamic build versioning by @aliberts in #18
• Update README.md by @kashif in #23
• Add Aloha env and ACT policy by @Cadene in #11
• CI env fix by @aliberts in #25
• Download datasets from hugging face by @Cadene in #28
• Use Path type instead of str for data_dir by @Cadene in #30
• Fix wandb artifact name and add disable option by @alexander-soare in #31
• Switch between train and eval modes by @alexander-soare in #35
• Add replay_buffer directory and dataset versioning by @Cadene in #36
• Improve README/LICENSE by @Cadene in #37
• Incorporate SerialEnv and introduct multistep policy logic by @alexander-soare in #26
• [WIP] Fix remaining issues with training PushT Image for diffusion policy by @alexander-soare in #22
• Update stats for Pusht and Aloha datasets (v1.0 -> v1.1) by @Cadene in #39
• Enable mps backend for Apple silicon devices by @aliberts in #40
• Fixes issues with PushT diffusion by @alexander-soare in #41
• Run model from HuggingFace hub by @alexander-soare in #44
• Reproduce original diffusion policy pusht image eval by @alexander-soare in #45
• Fix bug with stats.pth + Move from cadene to lerobot + Update datasets to v1.2 by @Cadene in #46
• Fix normalization of last frame and data type in visualization by @alexander-soare in #48
• Port simxarm, upgrade gym to gymnasium by @aliberts in #47
• Improve README by @Cadene in #49
• Update diffusion model by @alexander-soare in #58
• Improve readme by @aliberts in #57
• Add code coverage, more end-to-end tests by @aliberts in #56
• Add examples 2 and 3 by @alexander-soare in #53
• fix stats computation by @alexander-soare in #66
• Remove envs by @aliberts in #69
• Refactor act by @alexander-soare in #68
• Remove torchrl by @Cadene in #64
• Use policy configs instead of passing arguments directly to policy classes by @alexander-soare in #72
• Partial refactor of Diffusion Policy by @alexander-soare in #71
• Refactor pyproject by @aliberts in #76
• Setup contributions by @aliberts in #74
• Use Hugging Face datasets.Dataset by @Cadene in #73
• Fix issue with saving freshly computed stats by @alexander-soare in #77
• Unify policy API by @alexander-soare in #80
• Improve dataset examples by @Cadene in #82
• Tests cleaning & simplification by @aliberts in #81
• Fix tolerance for delta_timestamps by @alexander-soare in #84
• Hotfix test_examples.py by @aliberts in #87
• Quality of life patches for eval.py by @alexander-soare in #86
• Loads episode_data_index and stats during dataset init by @Cadene in #85
• Fix online training by @Cadene in #94
• Move normalization to policy for act and diffusion by @Cadene in #90
• Refactor datasets into LeRobotDataset by @Cadene in #91
• CI nightlies cpu/gpu & cleanup by @aliberts in #75
• Make sure targets are normalized too by @alexander-soare in #106
• More CI cleanup, add style workflow by @aliberts in #107
• Add test-docker-build workflow by @aliberts in #109
• Update readme & remove example 1 by @aliberts in #108
• Add torchaudio by @aliberts in #110
• Add UMI-gripper dataset by @AdilZouitine in #83
• Refactor the download and publication of the datasets and convert it into CLI script by @AdilZouitine in #95
• Remove warnings by @aliberts in #111
• Fix policy defaults by @alexander-soare in #113
• Update UmiProcessor default fps to 10 by @AdilZouitine in #116
• Remove update method from the policy by @qgallouedec in #99
• Remove mask check key in XarmProcessor by @AdilZouitine in #117
• Speed up CI, add more checks by @aliberts in #115
• Refactor push_dataset_to_hub by @Cadene in #118
• Tidy up yaml configs by @alexander-soare in #121
• Nest ACT model in ACT Policy by @alexander-soare in #122
• Follow transformers single file naming conventions by @alexander-soare in #124
• Use PytorchModelHubMixin to save models as safetensors by @alexander-soare in #125
• Refactor TD-MPC by @alexander-soare in #103
• Fix missing policy.to(device) in policy factory by @alexander-soare in #126
• Add video decoding to LeRobotDataset by @Cadene in #92
• Publish environments by @aliberts in #120
• Refactor eval.py by @alexander-soare in #127
• Remove batch length restrictions in select_action by @aliberts in #123
• Add dataset visualization with rerun.io by @Cadene in #131
• Add regression tests by @aliberts in #119
• Fix loops in eval.py by @alexander-soare in #128
• Remove EMA model from Diffusion Policy by @alexander-soare in #134
• Rename Diffusion Policy model repository by @alexander-soare in #136
• Remove additional frame from eval render by @alexander-soare in #137
• Add 25 real world datasets (static + mobile aloha) by @Cadene in #133
• Release cleanup by @aliberts in #132
• Remove loss masking from diffusion policy by @alexander-soare in #135
• Relax version contraints & poetry lock by @aliberts in #139
• Add policy and dataset tags to WandB logging by @alexander-soare in #144
• Override pretrained model config by @alexander-soare in #147
• Fix SpatialSoftmax input shape by @alexander-soare in #150
• Support for DDIMScheduler in Diffusion Policy by @kashya...