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Strands Robots

LeRobot Local

strands-labs/robots

LeRobot Local¶

uv pip install "strands-robots[lerobot]"
export STRANDS_TRUST_REMOTE_CODE=1        # required; raises UntrustedRemoteCodeError otherwise

from strands_robots.policies import create_policy

policy = create_policy(
    "lerobot_local",
    pretrained_name_or_path="lerobot/pi0_so100",   # HF model_id or local path
    device="cuda",
)

Parameters¶

LerobotLocalPolicy(
    pretrained_name_or_path="",          # HF model_id or local checkpoint dir (required)
    policy_type=None,                    # override auto-detected class
    device=None,                         # "cuda" | "cpu" | "mps"
    actions_per_step=1,
    use_processor=True,                  # observation/action processor bridge
    processor_overrides=None,
    tokenizer_max_length=48,
    tokenizer_padding_side="right",
    rtc_enabled=None,                    # Real-Time Chunk smoothing (NOT rtc=)
    rtc_execution_horizon=None,
    rtc_max_guidance_weight=None,
    inference_kwargs=None,
    embodiment=None,
    norm_tag=None,                       # MolmoAct2 normalisation tag
    image_keys=None,                     # MolmoAct2 camera key override
    inference_action_mode="continuous",  # "continuous" | "discrete"
)

Supported models¶

Model	Notes
ACT	Action Chunking Transformer
Pi0 / Pi0.5	Physical Intelligence VLA
SmolVLA	HuggingFace small VLA
Diffusion Policy	flow-matching
VQ-BeT	discrete action tokenisation
MolmoAct2	transformers-native SO100/SO101; requires lerobot from source (see below)

MolmoAct2¶

Important: MolmoAct2 requires lerobot installed from source (git main). The MolmoAct2Policy class was added after lerobot 0.5.1 (the latest PyPI release as of June 2025). A plain pip install strands-robots[lerobot] resolves lerobot 0.5.1, which does NOT include MolmoAct2.

Install lerobot from source before using MolmoAct2:

# Standard (x86_64, macOS):
uv pip install "lerobot[feetech] @ git+https://github.com/huggingface/lerobot.git"

# Jetson / aarch64 (pyav wheel may fail to build - skip it, lerobot uses torchcodec):
uv pip install "lerobot[feetech] @ git+https://github.com/huggingface/lerobot.git" --no-build-isolation
# If pyav still blocks the install, exclude it and add torchcodec manually:
uv pip install torchcodec>=0.7
uv pip install "lerobot[feetech] @ git+https://github.com/huggingface/lerobot.git" --no-deps
uv pip install -r <(pip show lerobot 2>/dev/null | grep Requires | sed 's/Requires: //;s/, /\n/g' | grep -v "^av$")

Once lerobot from source is installed, MolmoAct2 works:

policy = create_policy(
    "lerobot_local",
    pretrained_name_or_path="your-org/molmoact2-so101",
    device="cuda",
    norm_tag="so101",
    image_keys=["wrist_camera", "front_camera"],
    inference_action_mode="continuous",
)
# see examples/molmoact2_so101_pickplace.py

This requirement will go away once HuggingFace publishes lerobot >= 0.5.2 to PyPI (which will include MolmoAct2 natively). At that point the standard pip install strands-robots[lerobot] path will work.

RTC¶

policy = create_policy("lerobot_local", pretrained_name_or_path="lerobot/pi0_so100",
                        rtc_enabled=True, rtc_execution_horizon=16, rtc_max_guidance_weight=1.0)

See also¶