Running Next-Generation LeRobot Policies using lerobot-robot-ros2-zenoh SDK

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How can we quickly bring the latest robot learning models from the Hugging Face LeRobot ecosystem to real robots?

That question drove our latest hands-on experiment.

Using our open-source lerobot-robot-ros2-zenoh SDK, LeRobot policies connect directly to ROBOTIS hardware via a standard ROS 2 interface. This allows developers to test newly released LeRobot-native models on physical hardware right away.

In this experiment, we collected teleoperation data using CYCLO Intelligence and benchmarked four recent LeRobot policies on the ROBOTIS OMY manipulator under identical datasets and task setups:

  • GR00T N1.7

  • MolmoAct2

  • VLA-JEPA

  • FastWAM

NVIDIA Isaac GR00T N1.7 demonstrated the strongest and most stable overall performance.

Most importantly, the lerobot-robot-ros2-zenoh SDK gives us a practical framework to continuously explore rapidly evolving VLA models, world models, and policy architectures on real hardware.

This workflow extends across our entire lineup, including OMY, AI Sapiens, AI Worker, AI Manipulator, and ROBOTIS Hand. We will keep building the bridge from open robot learning models to physical testing and real-world deployment.

:clapper_board: Video: https://youtu.be/lZhRQvXYnh8
:robot: Code: https://github.com/ROBOTIS-GIT/lerobot-robot-ros2-zenoh
:memo: Docs: Running Next-Generation Policies on OMY with LeRobot | ROBOTIS Docs
:speech_balloon: Community: https://www.robotis.com/en/community.php