# 🛸 LeDrone

**State-of-the-art machine learning for real-world FPV drones : datasets, pretrained policies, simulators, and open hardware.**

LeDrone brings the LeRobot formula to aerial robotics: a standardized dataset format, a policy zoo, native simulator integration, and affordable reference hardware. Lower the barrier to entry for learning-based drone flight, so everyone can contribute and benefit from shared datasets and pretrained models.

🤗 Built on [LeRobot](https://huggingface.co/lerobot) • Apache 2.0 • Simulation-first, safety-first (<250 g, EU class C0)

## What you'll find here

- 📊 **Datasets** : `LeDroneDataset` format, extending LeRobotDataset v3.0: multi-rate aligned IMU (up to 1 kHz), FPV video (H.265, 60–120 fps), full FC telemetry, and human pilot RC inputs. Includes conversions of public benchmarks (UZH-FPV) and community-collected flights with automatic face blurring.
- 🧠 **Pretrained policies** : compact vision-based control models (CTBR action space, 60 Hz+), trained with a teacher-student + residual-model sim-to-real pipeline (Aerial Gym → real).
- 🕹️ **Simulators** : native integration with parallel RL simulators (Aerial Gym, Pegasus).
- 🔧 **Open hardware** : two reference builds: **LeDrone-Lite** (~300 €, ArduPilot + MAVLink, ground-station control, education & data collection) and **LeDrone-Pro** (500–600 €, Pi 5 / Orin Nano + Pixhawk, onboard inference & VIO).

## Roadmap

1. **Sim-only MVP** : dataset format, reference datasets, ACT/SmolVLA baselines ✅ *in progress*
2. **Hardware + collection** : validated BOMs, MAVLink/MSP drivers, 50–100 h of annotated flight on the Hub
3. **Sim-to-real** : indoor hover transfer, then gate racing; pretrained models downloadable and flyable
4. **Ecosystem** : VLA extensions, workshop, native simulator support

## Contribute

We're looking for ML researchers (policies, sim-to-real), embedded/FPV engineers (MAVLink/MSP, BOM validation), FPV pilots (data collection), and academic labs (scientific validation).

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