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
  • Search

© Copyright 2026, Isaac Blankenau.

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