LeRobot Adds End-to-End Depth Support
RemiCadene · x · 2026-07-14
LeRobot v0.6.0 introduces end-to-end depth perception support, allowing robots to directly "see" depth information.
Key updates include:
- Integration with Intel RealSense by simply setting usedepth: true
- Depth maps are now automatically recorded alongside RGB observations
- Depth is captured in millimeters and compressed into a 12-bit depth video
- Decoded back to physical units during training
Depth previews display in real-time during data collection and in the dataset viewer. This capability applies to multiple platforms like SO-100/101, Koch, OpenArm, reBot, and Unitree G1, offering fine-grained control over RGB/depth encoding, quality, and presets.
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