LeRobot Policy for NWO Robotics

Minimal adapter that wraps NWO Robotics Cloud API as a LeRobot-compatible policy.

What This Does

• Converts LeRobot observations → natural language instructions
• Calls NWO's Vision-Language-Action (VLA) API
• Returns actions in LeRobot-compatible format
• Enables LeRobot users to use NWO as a policy backend

Installation

pip install lerobot_policy_nwo

Quick Start

1. Get API Key

Register at nwo.capital/webapp/api-key.php to get your free API key (100,000 calls/month).

2. Basic Usage

from lerobot_policy_nwo import NWOPolicy, NWOPolicyConfig

# Configure policy
config = NWOPolicyConfig(
    api_key="your_nwo_api_key",  # Or set NWO_API_KEY env var
    instruction_template="Pick up the object",
)

# Create policy
policy = NWOPolicy(config)

# Use in LeRobot loop
observation = {
    "observation.image": camera_frame,  # (3, 224, 224) tensor
    "observation.state": joint_positions,  # (6,) tensor
}

action = policy.select_action(observation)
# Returns: tensor of shape (1, action_dim)

# Check API response metadata
metadata = policy.get_last_metadata()
print(f"Confidence: {metadata['confidence']}")
print(f"Request ID: {metadata['request_id']}")

3. With LeRobot Training

from lerobot.configs.policies import PreTrainedConfig
from lerobot_policy_nwo import NWOPolicy

# Use NWO for data collection
policy = NWOPolicy.from_pretrained("nwo")

# Or specify config
config = PreTrainedConfig.from_pretrained("nwo")
policy = NWOPolicy(config)

Configuration

API Features Used

• Inference (api-robotics.php?action=inference) - Main VLA inference
• Health Check (?action=health) - API status
• Dataset Export (?action=export_dataset) - Export for LeRobot training

Limitations

• Inference only: NWO does not support training. Use LeRobot's imitation learning on collected data.
• Cloud-based: Requires internet connection to NWO API
• Rate limits: Free tier = 100k calls/month, Prototype = 500k/month

Development

git clone https://github.com/nwocapital/lerobot_policy_nwo.git
cd lerobot_policy_nwo
pip install -e ".[dev]"
pytest

Links

• NWO Robotics: https://nwo.capital/webapp/nwo-robotics.html
• API Dashboard: https://nwo.capital/webapp/api-key.php
• LeRobot: https://github.com/huggingface/lerobot
• PyPI: https://pypi.org/project/lerobot_policy_nwo/

License

MIT License - see LICENSE file.

Support

• Email: ciprian.pater@publicae.org
• Discord: NWO Capital community