Rosetta
Getting started
Installation
The pixi workspace
An existing ROS 2 install
Train and deploy your first policy
1. Define a contract
2. Record demonstrations
3. Convert bags to a dataset
4. Train
5. Deploy
How-to guides
Write a contract
Multi-source keys
Action safety
Worked example
Record, convert, train, deploy
Record episodes
Keyboard controller (recommended)
ROS 2 action
Convert bags to a dataset
Train
Deploy
Human in the loop
Reference
Contract reference
Minimal example
Observations
Actions
Key-count limit on the LeRobot live path
Operators
Field kinds (
kind
)
Teleop
Tasks, rewards, and signals
Adjunct topics
Select syntax
Alignment strategies
Supported message types
Custom encoders and decoders
Nodes
episode_recorder_node
Topic recording
episode_keyboard_node
policy_runner_node
hil_manager_node
ROS 2 lifecycle
Explanation
Design
Record everything, decide later
The translation problem
The contract
LeRobot
Architecture
Rosetta
Index
Index