Rosetta
Getting started
Install
The demos workspace
rosetta_ws
An existing workspace
Check
From bags to a moving arm
1. Install the demos workspace
2. Start the robot
3. Read the contract
4. Deploy the published policy
5. Prepare a dataset from the bags
6. Train your own policy
7. Deploy your policy
8. Change the contract
Next
How-to guides
Record episodes
Start the recorder
Drive it from the keyboard
Drive it from a script
Use bags you already have
Check a bag
Write a contract
Name the keys
Point each key at a channel
When:
align
Which:
select
How:
apply
Merge streams into one key
Set the action’s safety
Validate
Prepare a dataset
Port
Check the result
Revise and port again
Port in parallel
Push to the Hugging Face Hub
If an episode fails
Train
Deploy a policy
Run
Let the checkpoint bring its contract
Run inference on another machine
Tune the chunking
Use LeRobot’s own tools instead
Run human-in-the-loop episodes
Declare the teleop device
Launch
Run an episode
End on a reward
Add a message type
Write the codec
Register it
Check
Add a framework
Implement the two protocols
Register them
Use them
Reference
Glossary
Contract
Top level
Sections
Source
channel
qos
align
select
apply
kind
Multi-source keys
Tasks, rewards, signals, info, complementary_data
Adjunct
Teleop
Embedding
Example contracts
Message types and operators
Decoders
Encoders
Operators
Custom codecs
Custom operators
rosetta_port
Options
Behavior
Output
Nodes
Lifecycle
episode_recorder_node
episode_keyboard_node
policy_runner_node
hil_manager_node
Interfaces
Actions
RecordEpisode
RunPolicy
ManageEpisode
Services
Packages
Entry-point groups
Dependencies
Explanation
About the contract
Streams and frames
Before or after recording
The same code, twice
Where the contract stops
Frameworks
One numeric key on the live path
Unstamped messages
Rosetta
Index
Index