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
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