Get the number of joints of the robot. Returns: int: The number of joints of the robot.

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

Write values to multiple motors.

Serialize and write dataset statistics to their standard file path. Args: stats (dict): The statistics dictionary (can contain tensors/nu

Executes all processing steps and hooks in sequence. Args: transition: The initial `EnvTransition` object. Returns:

Get CAN ID for a motor.

Load configuration from local file or Hugging Face Hub. This method implements a super-simplified 3-way loading strategy: 1. **Local

Aggregates multiple LeRobot datasets into a single unified dataset. This is the main function that orchestrates the aggregation process by: 1

Aggregate stats from multiple compute_stats outputs into a single set of stats. The final stats will have the union of all data keys from each of

Apply this rotation to a set of vectors. This is equivalent to applying the rotation matrix to the vectors: self.as_matrix()

Tries to select automatically a torch device.

Reshape images of [n_images, h, w, 3] -> [n_images, n_patches, pixels_per_patch]

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

Compute comprehensive statistics for all features in an episode. Processes different data types appropriately: - Images/videos: Samples from

Computes the hash of a string.

Convert a LeRobotDataset into a ReplayBuffer. Args: lerobot_dataset (LeRobotDataset): The dataset to convert.

Get the current action consumption index. Returns: int: Index of the next action to be consumed.

Convert a LeRobot features dictionary to a `datasets.Features` object. Args: features (dict): A LeRobot-style feature dictionary. Re

Get leftover original actions for RTC prev_chunk_left_over. These are the unconsumed actions from the current chunk, which will be us

Retrieves a policy class by its registered name. This function uses dynamic imports to avoid loading all policy classes into memory at o

Compute and return the statistics of the vectors processed so far. Args: quantiles: List of quantiles to compute (e.g., [0.01, 0.

Load pre-processed formatted data from disk.

Predict a chunk of actions given environment observations.

Returns an actual path for local or remote file, potentially downloading it if a copy doesn't exist locally yet.

Set the seed when entering a context, and restore the prior random state at exit. Example usage: ``` a = random.random() # produces som

Centre each motor range around its current position. The function computes and writes a homing offset such that the present position becomes

Convert MM:SS or SS timestamp to seconds

Update the target model's parameters with an EMA step.

Helper method to apply gradient checkpointing if enabled.

Decode a message and update the motor state cache.

Helper to save calibration data to the specified file. Args: fpath (Path | None): Optional path to save the calibration

Helper to save calibration data to the specified file. Args: fpath (Path | None): Optional path to save the calibration

Add a latency sample (seconds).

Build a preprocessor that converts 'raw' image/text data from various tasks into tensors inputs/targets that can be passed to the mod

Tokenizer this model uses

Calculate average FPS vs target

Compute dataset-level temporal proportions (priors) for each subtask. Implements SARM Paper Formula (1): ᾱ_k = (1/M) × Σ_i (L_{i,k} / T_i)

Convert dataset features to policy features. This function transforms the dataset's feature specification into a format that a policy can use

Download urls from a PixMo dataset, return a map of urls->filename

Caps relative action target magnitude for safety.

Format video points for counting objects across frames.

Convert normalized coordinates to absolute pixel coordinates.

Extract answer index from answer string. Handles formats: 'A', 'A.', 'A. content', '(A)', '(A) content'

Get a module's device by checking one of its parameters. Note: assumes that all parameters have the same device

Get file size on disk in megabytes. Args: file_path (Path): Path to the file.

Get the appropriate video path, preferring extracted clips when available.

Initializes a non-blocking keyboard listener for real-time user interaction. This function sets up a listener for specific keys (right arrow