From bags to training with a unified data model.
Thanks for coming to our talk!
Meet the Rerun team
Join us after the ROSCon reception for drinks, snacks, and ping-pong. We'd love to hear what you're working on, help you get started, answer questions, and get to know you.
- When
- Wednesday September 23, 8 PM to 11:30 PM
Get your ROS 2 data in
Install the SDK and open a bag.
pip install rerun-sdk
rerun your_bag.mcapRecord ROS 2 bags as .rrd
A rosbag2 storage plugin for recording straight to .rrd.
ros2 bag record -s rrd
- Docs
Open MCAP files
Open a bag in the Viewer. Rerun decodes common ROS 2 messages into archetypes and reflects custom messages into Arrow.
- Example
Robot data preprocessing
Merge an MCAP bag, URDF files, and a JSON offsets file into one recording. Fix bad camera parameters and compute transforms from joint states on the way in.
- Docs
Log from a ROS 2 node
Log a live Nav2 TurtleBot simulation from a ROS 2 node with the Python SDK.
Query and curate
- Docs
Query with dataframes
Run a query over a recording and get an aligned dataframe back. Custom messages included.
- Docs
Add layers to a recording
Append annotations, model predictions, or derived metrics to a segment as named layers. The original recording stays untouched.
- Docs
Curate with segments
Tag recordings with metadata. Filter and sort episodes into the dataset you want.
Train on the same recordings
- Course
The training set is a query
Curate by query, then stream the surviving episodes straight into a PyTorch training loop. No intermediate copies.
- Docs
Stream training samples from .rrd
Pick columns and a sample rate. Read recordings straight into PyTorch. No export step. Experimental.
- Docs
Export to LeRobot
The shipping path today. Curate in Rerun, export a LeRobot v3 dataset, train.
More
- Docs Supported ROS 2 and protobuf message formats
- Docs Load URDF robot models
- Docs Align multi-rate sensors at query time
- Docs Training from a catalog: export or stream
- Docs Load recordings into Pandas, Polars, or DuckDB
- GitHub ROS 2 to Rerun bridge example in C++
- GitHub rerun-lerobot: convert .rrd to LeRobot v3
- Examples Robotics examples, open in the browser
- Blog The data layer tax for robot learning
- Blog A new data layer for robot learning
- Docs Getting started
We want to hear from you.
Tell us what you're working on and what gets in your way.