EPITA Paris - robotics and deeplearning enthusiast 🇫🇷

Joined November 2017
Ellerbach Maxime retweeted
New robot added to LeRobot! 💪 Both DM and RS versions of the reBot B601 from @seeedstudio are now officially supported. The arm features a 2.5kg payload capacity and 6 degrees of freedom + gripper. In the example below, the robot performs towel folding fully autonomously. The ACT model was trained on just 200 examples.
14
41
5
382
29,109
Ellerbach Maxime retweeted
Humanoids are coming to LeRobot! 🤖 Learn what you can do with the @UnitreeRobotics G1 in LeRobot, how to use @NVIDIARobotics SONIC, and which open-source humanoid hardware we currently support! Read more in our latest blog: huggingface.co/blog/nepyope/…
5
47
6
303
17,881
Ellerbach Maxime retweeted
Introducing FLUX 3 Action. An open weights 7B World Action Model that achieves first place on the RoboLab benchmark. It outperforms the previous best open model by 6.1 percentage points while using 56% fewer parameters and running up to 3.95x faster.⁠⁠ FLUX 3 Action removes the usual trade-off between world action model performance and VLA speed: it still predicts video and actions together, but plans more than twice as far ahead and runs faster per second of robot motion than the strongest open VLA. Teams can fine-tune FLUX 3 Action on their own demonstrations to create policies for a particular robot and task. Together with @nvidia, we also integrated FLUX 3 Action natively into @huggingface's LeRobot, with fine-tuning recipes included and edge deployment on NVIDIA Jetson. Beyond robotics, we’re also seeing promising results training task-specific policies for acting in simulated environments like gaming, controlling a vehicle, computer use, and wherever else a model needs to understand a visual environment and then choose what to do next. FLUX 3 Action builds on the same image, video, and audio pretraining as FLUX 3, but uses a smaller architecture designed for practical deployment. In midtraining, we trained the model to predict actions and future frames together. We’re releasing the weights, code, fine-tuning recipe, benchmarks, and reproducible examples so researchers and developers can build on the model with their own robots, environments, and tasks (see below).
78
241
60
1,840
182,311
Ellerbach Maxime retweeted
🌍 New World Action Model in LeRobot ✨ LaWAM (CoRL 2026) replaces future-video generation with a single-step latent subgoal. Given an observation + language instruction, the policy predicts a latent action. A 230M Latent World Model decodes it into future visual features in ONE forward pass, and the action expert conditions on that predicted subgoal to produce the next chunk - dynamics-aware foresight, no iterative video rollout. 🎯 98.6% LIBERO · 91.22% RoboTwin · 90.0% real-world manipulation ⚡ 187ms / action chunk on A100, 10 denoising steps Thanks for the contribution by Zhongguancun Academy 🙌 Docs: huggingface.co/docs/lerobot/… Blog: nemo-1024.github.io/blogs/la…
10
54
6
550
41,807
Ellerbach Maxime retweeted
Your robot can now see in depth 👀📏 LeRobot v0.6.0 adds real end-to-end depth support. Plug in an Intel RealSense, set use_depth: true, and depth maps join your RGB observations automatically: captured in millimeters, compressed into compact 12-bit depth video alongside your normal camera streams, and decoded back to physical units at training time. Depth renders live while you record and in the dataset viewer, and it works across SO-100/101, Koch, OpenArm, reBot, Unitree G1 and more. You also get full control over how everything gets encoded, RGB or depth, codec, quality, presets, all of it. More on how it works: huggingface.co/docs/lerobot/…
7
32
6
281
31,373
Ellerbach Maxime retweeted
Meet VLA-JEPA, the first world model policy in LeRobot 🌍 Most VLAs just learn observation → action. VLA-JEPA also learns action-relevant dynamics: during training, a JEPA world model has to predict upcoming frames in latent space from the model's own actions. Then, at inference, the world model disappears entirely, leaving a standard, fast VLA: Qwen backbone, action head, nothing extra. In our demo it was fine-tuned on just 13 examples and ran in real time on an NVIDIA DGX Spark. On a consumer RTX 3080, it hits 10Hz using under 6GB of VRAM. World-model supervision during training, zero extra cost at inference. That's the whole trick.
10
53
4
353
42,964
Ellerbach Maxime retweeted
LeRobot v0.6.0 is officially here: Imagine, Evaluate, Improve! 🤖🚀 We are closing the robot learning loop with massive upgrades for the open-source robotics community. From policies that imagine the future to a much leaner installation, here is what is new: - 🌍 World Models: VLA-JEPA, LingBot-VA, and FastWAM help your policies anticipate the future. - 👀 VLA Expansion: Welcome GR00T 1.7, MolmoAct2, EO-1, Multitask DiT, and EVO1. - 🏅 Reward Models API: Track success seamlessly with Robometer and TOPReward. - 🎯 Unified Evaluation: 6 new simulation benchmarks, all accessible via the lerobot-eval CLI. - ☁️ And more: lerobot-rollout CLI for DAgger corrections, HF Jobs cloud training, up to 2x faster data loading, GUI - LeLab, many docs improvements Ready to build the future of robotics? Dive into the full release notes here: huggingface.co/blog/lerobot-… @ClementDelangue @Thom_Wolf
20
90
16
627
60,339
Ellerbach Maxime retweeted
1/ Introducing HIW-500 (Humanoids-in-the-Wild 500): the largest open-source humanoid teleop dataset collected in real homes Built w/ @UnitreeRobotics @huggingface across 12 homes in Southeast Asia, it covers: > 500+ hrs > 23K+ episodes > 10+ TB > 10+ household tasks
33
72
35
564
423,837
RT @LeRobotHF: Is it really worth it joining a robotics hackathon? One year ago, thousands of people around the world spent a single weeke…
2
3
Ellerbach Maxime retweeted
Cleaning your home with Cable-Driven Parallel Robot and LeRobot. Meet Stringman, an open-source project by Nathaniel Nifong (@VMises76153). The goal is to completely automate picking up household laundry, toys, and trash. It operates as an overhead Cable-Driven Parallel Robot (CDPR) using 4 wall-mounted motors and fishing line. Offloading the motor weight from the end-effector keeps the moving gripper assembly lightweight, incredibly cheap, and quiet while maximizing payload capacity. Most of the parts are 3D printed. The technical stack: - Model: Multitask Diffusion Transformer (DiT) - Data: Learned via teleoperation and trained on just 400 local human demonstration examples - Framework: Built and trained locally using LeRobot on a consumer GPU This is a fantastic showcase of how accessible, community-driven hardware and open-source AI can rethink home automation constraints without needing a complex humanoid base.
16
157
36
1,035
347,923
Ellerbach Maxime retweeted
As many of you were interested in the technical details of the model, here is a followup thread to go more into technical details about VLA-JEPA. 1. Architecture 2. Training 3. Recipe for the demo 4. TLDR 🧵below
VLA-JEPA just dropped in LeRobot 🤖 What makes this model special is that it does not just learn what action to take from a given observation, it also leverages a JEPA world model to learn action-relevant dynamics. During training, the VLA leverages V-JEPA2 by conditioning its predictor. This clever trick adds a world modeling objective to the training, which also allows pretraining on human videos. At inference, the world model is dropped entirely, keeping only a standard VLA architecture: Qwen backbone and action head. The demo here was only fine-tuned on 13 examples, showing great pretraining capability and running in real time on @NVIDIARobotics DGX Spark! VLA-JEPA is the first world model to be ported to LeRobot, and I feel like it won't be the last 🚀 @Thom_Wolf @ClementDelangue
18
57
3
464
89,209
Ellerbach Maxime retweeted
VLA-JEPA just dropped in LeRobot 🤖 What makes this model special is that it does not just learn what action to take from a given observation, it also leverages a JEPA world model to learn action-relevant dynamics. During training, the VLA leverages V-JEPA2 by conditioning its predictor. This clever trick adds a world modeling objective to the training, which also allows pretraining on human videos. At inference, the world model is dropped entirely, keeping only a standard VLA architecture: Qwen backbone and action head. The demo here was only fine-tuned on 13 examples, showing great pretraining capability and running in real time on @NVIDIARobotics DGX Spark! VLA-JEPA is the first world model to be ported to LeRobot, and I feel like it won't be the last 🚀 @Thom_Wolf @ClementDelangue
33
189
36
1,402
321,437
Ellerbach Maxime retweeted
Train AI robots without writing a single line of code. 🤖 We just launched LeLab, the official graphical user interface for LeRobot built by @rabault_nicolas. It completely removes the command line from the robot learning workflow, taking you from raw hardware to autonomous movement visually. If you've ever wanted to get into AI robotics but were held back by complex terminal setups, this is for you. - Zero-Terminal Setup: Smart calibration with automatic USB port detection. - Easy Data Collection: Teleoperate your robot and record a dataset. - One-Click GPU Training: Don't have a massive local GPU? Scale your training instantly with Hugging Face Jobs right inside the app. Just plug in your SO-ARM101 and start teaching your robot. We put together a complete, step-by-step video guide showing exactly how to get started and train your first policy. Docs: huggingface.co/docs/lerobot/… GitHub: github.com/huggingface/leLab
36
83
12
458
50,901
Ellerbach Maxime retweeted
🤖 Another zero-shot reward model is now in LeRobot: ROBOMETER. A general-purpose, zero-shot video-language reward model from @UofSC, @UT_Dallas, @MIT, @UW, @allen_ai, and @nvidia that predicts frame-level task progress. Trained on 1M+ trajectories from 21 robot embodiments, generalizes zero-shot to unseen tasks, scenes, and robots. 2.4–4.5x better downstream success rates across online RL, offline RL, data filtering, failure detection, and data retrieval for IL. Project: robometer.github.io/ Paper: arxiv.org/abs/2603.02115
3
46
7
275
33,174
Ellerbach Maxime retweeted
🤖 Zero-shot robot rewards are now in LeRobot with TOPReward! TOPReward, from @allen_ai, @UW, and @cole__ai @Amazon , turns a frozen video VLM into a robot reward model by reading log P("True" | video + instruction) directly from the model’s logits. Project: topreward.github.io/webpage/ Paper: arxiv.org/abs/2602.19313
1
33
8
218
27,999
Ellerbach Maxime retweeted
We built a bipedal robot for about $2,500. A real, mostly 3D-printed robot you can build, repair, simulate, train, and control. Today we’re releasing LeRobot Humanoid: an open robot-learning platform with hardware, runtime, identification tools, and training environments. Blog post: huggingface.co/blog/VirgileB… Repo: github.com/Virgileboat/lerob…
33
174
35
1,016
201,139
Ellerbach Maxime retweeted
🤖Adding new RL algorithms to LeRobot just got much easier. Demo: HIL-SERL training with a SAC-based RL algorithm on an SO-100 for a hole-in-hand peg-in-hole task. Sparse reward, only 30 offline demos mixed with live robot experience, and ~1 hour of online training with human interventions only when the policy fails. The bottom graph tracks intervention rate: high at the start, steadily dropping as the policy improves. The refactor separates algorithm logic from training infrastructure: • RLAlgorithm owns learning logic • RLTrainer handles orchestration • DataMixer combines rollouts, demos, interventions, and future data sources Adding an RL algorithm now looks much closer to adding a policy: one algorithm file, one config, one registry entry. SAC is first. RLT, RECAP, ConRFT, QC-FQL, DSRL, and VLA RL fine-tuning next! @Thom_Wolf @ClementDelangue
10
38
2
299
31,520
Ellerbach Maxime retweeted
Open-source robotics ecosystem is exploding 🔥 Just look at the LeRobot ecosystem growth over the last 9 months: 📈 LeRobot Datasets: Up ~600% 🤖 LeRobot Models: Up ~4000% 😮‍💨 These numbers indicate just how hot Physical AI is nowadays.
6
26
3
150
12,075
Ellerbach Maxime retweeted
Releasing the Unfolding Robotics blog! Time to unfold robotics: we trained a robot to fold clothes using 8 bimanual setups, 100+ hours of demonstrations, and 5k+ GPU hours. Flashy robot demos are everywhere. But you rarely see the real story: the data, the failures, the engineering. We’re sharing everything: code, data, and details in the blog → huggingface.co/spaces/lerobo…
30
140
45
792
283,291
Ellerbach Maxime retweeted
Our contribution mentioned by the #DonkeyCar community today at @devconf_cz : "They made people actually train the cars by themselves it's quite fun to do, they do it really well" @EllerbachMaxime thanks 🤩 For more details : github.com/mdl29/donkeycarLP… cc @mdl29_
2
1
4
594