Reset environment to initial state. Args: seed: Random seed for reproducibility. options: Additional reset options.

Update controller state - call this once per frame.

Update chunk and file size settings after dataset creation. This allows users to customize storage organization without modifying the constru

Add new data to the buffer, which could potentially mean shifting old data out. The new data should contain all the frames (in order) of any

Delete episodes from a LeRobotDataset and create a new dataset. Args: dataset: The source LeRobotDataset. episode_indices: List o

Create a RobotClientConfig from a dictionary.

Instantiates a policy configuration object based on the policy type. This factory function simplifies the creation of policy configuration o

Find the first object logged under a given key.

Get current chunk and file size settings. Returns: Dict containing chunks_size, data_files_size_in_mb, and video_files_size_in_mb

Creates the pre- and post-processing pipelines for the ACT policy. The pre-processing pipeline handles normalization, batching, and device placem

Instantiate a policy model. This factory function handles the logic of creating a policy, which requires determining the input and outpu

Constructs pre-processor and post-processor pipelines for the SAC policy. The pre-processing pipeline prepares input data for the model by:

Constructs pre-processor and post-processor pipelines for the TDMPC policy. The pre-processing pipeline prepares input data for the model by

Constructs pre-processor and post-processor pipelines for the VQ-BeT policy. The pre-processing pipeline prepares input data for the model b

Return the p-th percentile of recorded times.

Split a LeRobotDataset into multiple smaller datasets. Args: dataset: The source LeRobotDataset to split. splits: Either a dict m

Return the most recent new frame. This method retrieves the latest frame captured by the background thread. If a new frame is already

Compute τ_t = (t - s_k) / (e_k - s_k) ∈ [0, 1]. Returns 1.0 for zero-duration subtasks.

Write implementation-specific recommended settings to every motor. Typical changes include shortening the return delay, increasing ac

Create a default ACT configuration for testing.

Create a default VQBeT configuration for testing.

Create a default SAC configuration for testing.

Create a default TDMPC configuration for testing.

Extracts the subtask from the transition's complementary data. Args: transition: The environment transition. Re

Initializes the Rerun SDK for visualizing the control loop. Args: session_name: Name of the Rerun session. ip: Optional IP f

Constructs pre-processor and post-processor pipelines for the reward classifier. The pre-processing pipeline prepares input data for the cla

Constructs pre-processor and post-processor pipelines for a diffusion policy. The pre-processing pipeline prepares the input data for the mo

Modify tasks in a LeRobotDataset. This function allows you to either: 1. Set a single task for the entire dataset (using `new_task`) 2. S

Plot trajectories across multiple dimensions. This function plots a tensor's values across time for multiple dimensions, with each di

Check if the cached dataset contains all requested episodes and their video files.

Convert motor specification to list of motor names.

Create a TimedObservation with a given state vector.

Merge LeRobot grouped feature dicts. - For 1D numeric specs (dtype not image/video/string) with "names": we merge the names and recompute the sha

Create a default Diffusion configuration for testing.

Create a default Reward Classifier configuration for testing.

Create default dataset statistics for testing.

Create default dataset statistics for testing.

Create default dataset statistics for testing.

Create default dataset statistics for testing.

Creates the initial features dict for the dataset from action and observation specs. Args: action: A dictionary of action feature na

RTC guidance wrapper around an existing denoiser. This method wraps an original denoising callable that only takes ``x_t`` and return

Get all debug steps from tracker. Returns empty list if tracker is disabled or None.

Replaces normalization statistics in an existing `PolicyProcessorPipeline` instance. This function creates a deep copy of the provided pipel

Helper to create SubtaskAnnotation from list of (name, start_sec, end_sec).

Makes a gym vector environment according to the config or Hub reference. Args: cfg (EnvConfig | str): Either an `EnvConfig` object descri

Capture and return a single frame from the camera synchronously. This is a blocking call that will wait for the hardware and its SDK.

Return the most recent frame captured immediately (Peeking). This method is non-blocking and returns whatever is currently in the mem

Registers a function to be called before each step. Args: fn: A callable that accepts the step index and the current transition.

Remove features from a LeRobotDataset. Args: dataset: The source LeRobotDataset. feature_names: Name(s) of features to remove. Ca

Execute one environment step with given action.

Write values to multiple motors.

Get motor recv_id from name or ID.

Check if directory has JSON files but no processor configs. This method implements smart migration detection to avoid false positives:

Convert a batch dictionary from a dataset/dataloader into an `EnvTransition`. This function maps recognized keys from a batch to the `EnvTra

Create default dataset statistics for testing.

Create default dataset statistics for testing.

Loads the JSON data from `fpath` and recursively fills `obj` with the corresponding values (strictly matching structure and types). Tuple

Flatten a nested dictionary by joining keys with a separator. Example: >>> dct = {"a": {"b": 1, "c": {"d": 2}}, "e": 3} >>> print