Vla Lerobot Mastery

Explore LeRobot architecture from HuggingFace — dataset format, policy zoo, training pipeline, and comparison with other frameworks.

Step-by-step guide to collecting demonstration data via teleoperation in simulation with LeRobot — from setup to complete dataset.

Guide to training ACT and Diffusion Policy with LeRobot, comparing performance, hyperparameter tuning, and visualizing results.

Expanding from single-object to multi-object manipulation — sorting, stacking, rearranging with language-conditioned policies.

Building policies for long-horizon tasks — hierarchical planning, curriculum learning, and failure recovery for complex action sequences.

Guide to setting up a dual-arm robot system with LeRobot — calibration, coordinate frames, and preparation for bimanual tasks.

Training bimanual policies for practical tasks — towel folding, water pouring, assembly. ACT vs Diffusion Policy comparison for dual-arm.

Combining navigation and manipulation on mobile robots — extended action space, whole-body coordination, and sim environments.

Humanoid robots as the ultimate manipulation platform — high-DOF control, egocentric vision, and humanoid foundation models.

Complete pipeline from simulation to real robot — domain randomization, camera calibration, inference optimization, and ROS 2 deployment.

Complete overview of LeRobot v0.5 — Pi0-FAST, SmolVLA, Real-Time Chunking, HIL-SERL, Unitree G1, PEFT/LoRA, and 10x training speed.

Detailed guide to fine-tuning SmolVLA — a 450M VLA model that runs on consumer GPUs, from data collection to real robot deployment.

Guide to training Pi0-FAST in LeRobot — from training the FAST tokenizer, fine-tuning the model, to inference with KV-caching.

A detailed guide to using HIL-SERL in LeRobot — reinforcement learning directly on real robots with human interventions.

Fine-tune large VLAs with LoRA on consumer GPUs, deploy to real robots with Real-Time Chunking — a production-ready workflow.

A practical guide to using SARM in LeRobot to learn task progress from video, score rollouts, and improve VLA policies with RA-BC.

Deploy Pi0-FAST on Unitree G1 with whole-body loco-manipulation in LeRobot v0.5.0 — from setup, teleoperation, to real-time inference with RTC.