Lerobot

LeRobot

Follow one contract chain through LeRobot: embodiment, dataset, processor, checkpoint, runtime observations and actions, then evaluation. Find the first contract that does not match.

Establish the contract

• Inspect the installed LeRobot version and current CLI help before writing flags. Dataset formats, policy families, scripts, and extras change quickly.
• Match the robot's state, action space, cameras, rates, and task to the dataset. A policy adapts to those features; it cannot repair a mismatched embodiment.
• Inspect every checkpoint's configuration and processor files, not only its weights. Base and fine-tuned checkpoints from one family can expect different camera layouts.
• Keep Hub identity, transfer, publication, and Jobs lifecycle at the Hugging Face boundary. Keep source-selection strategy in data.

Prove the loop cheaply

• Start with a small shipped policy and a known dataset/environment pair.
• Run a short train that writes a checkpoint, then load that exact checkpoint through evaluation. Completion and numeric metrics are the smoke-test result; policy quality is not.
• Confirm loss, saved processors, input/output shapes, rollout metrics, and video or real-robot behavior before increasing steps or hardware cost.
• Treat real-hardware rollout as a new safety boundary even when simulation evaluation passed.

Go deeper only when needed

• For loading, recording, editing, migration, and episode visualization, read references/datasets.md.
• For policy choice, camera remapping, training, compute sizing, and remote Jobs behavior, read references/policies-and-training.md.
• For simulation evaluation, headless rendering, EnvHub, or real-hardware rollout, read references/eval-and-sim.md.
• When a checkpoint, feature contract, evaluation worker, dependency, or remote run fails, start with FAILURES.md.
• The concrete PushT examples are useful only when that smoke path matches the application: load dataset and train ACT.
• Use the current LeRobot documentation and source for version-sensitive APIs and the shipped policy/environment list.

Done

• The target dataset loads, the checkpoint carries its processors, evaluation exercises matching observations and actions, and measured results justify any longer run or hardware deployment.