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LeRobot v0.5.0: Scaling Every Dimension

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LeRobot v0.5.0: Scaling Every Dimension

LeRobot v0.5.0 adds full Unitree G1 humanoid support (whole-body control models), new policies –including Pi0-FAST autoregressive VLAs and Real-Time Chunking for responsive inference–, and streaming video encoding that eliminates wait times between recording episodes. The release also introduces EnvHub for loading simulation environments from the Hugging Face Hub, NVIDIA IsaacLab-Arena integration, and a major codebase modernization with Python 3.12+, Transformers v5, and third-party policy plugins.

LeRobot v0.5.0 dramatically expands the roster of supported hardware — from arms and mobile robots to a full humanoid.

The biggest hardware addition in this release: full Unitree G1 humanoid support. This is LeRobot's first humanoid integration, and it's comprehensive:

The G1 integration represents a major step toward general-purpose robotics within LeRobot — moving beyond tabletop arms into full-body embodied AI. Try it out yourself by following the documentation.

We've added support for the OpenArm robot and its companion OpenArm Mini teleoperator. OpenArm is a capable robot arm with full LeRobot integration, and the Mini serves as its natural teleoperation device. Both support bi-manual configurations, enabling dual-arm setups for more complex manipulation tasks. Check it out in the documentation.

New motor controller support via CAN (Controller Area Network) bus opens the door to higher-performance actuators:

These additions mean LeRobot can now drive a wider variety of professional-grade actuators beyond the existing Dynamixel and Feetech ecosystem.

This release brings six new policies and techniques into LeRobot, pushing the boundaries of what's possible with open-source robot learning.

Pi0-FAST brings autoregressive Vision-Language-Action models to LeRobot with FAST (Frequency-space Action Sequence Tokenization) .


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