Installation

This guide uses conda (via miniforge) to manage environments (recommended). If you prefer another environment manager (e.g. uv, venv), ensure you have Python >=3.12 and support PyTorch >= 2.10, then skip ahead to Environment Setup.

Step 1 ( conda only): Install miniforge

wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
bash Miniforge3-$(uname)-$(uname -m).sh

Step 2: Environment Setup

Create a virtual environment with Python 3.12:

conda create -y -n lerobot python=3.12

Then activate your virtual environment, you have to do this each time you open a shell to use lerobot:

conda activate lerobot

Install ffmpeg (for video decoding)

LeRobot uses TorchCodec for video decoding by default, which requires ffmpeg.

Platform support: TorchCodec is not available on macOS Intel (x86_64), Linux ARM (aarch64, arm64, armv7l), or Windows with PyTorch < 2.8. On these platforms, LeRobot automatically falls back to pyav — so you do not need to install ffmpeg and can skip to Step 3.

If your platform supports TorchCodec, install ffmpeg using one of the methods below:

conda install ffmpeg -c conda-forge

Step 3: Install LeRobot 🤗

From Source

First, clone the repository and navigate into the directory:

git clone https://github.com/huggingface/lerobot.git
cd lerobot

Then, install the library in editable mode. This is useful if you plan to contribute to the code.

pip install -e .

Installation from PyPI

Core Library: Install the base package with:

pip install lerobot

This installs only the default dependencies.

Extra Features: To install additional functionality, use one of the following (If you are using uv, replace pip install with uv pip install in the commands below.):

pip install 'lerobot[all]'          # All available features
pip install 'lerobot[aloha,pusht]'  # Specific features (Aloha & Pusht)
pip install 'lerobot[feetech]'      # Feetech motor support

Replace [...] with your desired features.

Available Tags: For a full list of optional dependencies, see: https://pypi.org/project/lerobot/

Troubleshooting

If you encounter build errors, you may need to install additional dependencies: cmake, build-essential, and ffmpeg libs. To install these for Linux run:

sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev

For other systems, see: Compiling PyAV

Optional dependencies

LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., .[aloha,feetech]). For all available extras, refer to pyproject.toml. If you are using uv, replace pip install with uv pip install in the commands below.

Simulations

Install environment packages: aloha (gym-aloha), or pusht (gym-pusht) Example:

pip install -e ".[aloha]" # or "[pusht]" for example

Motor Control

For Koch v1.1 install the Dynamixel SDK, for SO100/SO101/Moss install the Feetech SDK.

pip install -e ".[feetech]" # or "[dynamixel]" for example

Experiment Tracking

To use Weights and Biases for experiment tracking, log in with

wandb login

You can now assemble your robot if it’s not ready yet, look for your robot type on the left. Then follow the link below to use Lerobot with your robot.