The lucen CLI is the hub from a terminal, and it runs the jobs that run on
your own machine. Its commands are grouped here as lucen --help groups them.
Every command prints its own options with --help, such as lucen runs create --help.
Train on your own machine has the
install line. Work from a terminal walks the commands
in order, with their output.
Get started
| Command | What it does |
|---|
lucen auth login | Sign in with an API key, and store it in a file only you can read. |
lucen auth whoami | Show who the stored key signs you in as, and its scopes. |
lucen auth logout | Forget the stored key. |
lucen quickstart | Print the next three to five commands for where you are. It runs nothing. |
lucen status | Who you are, which hub, and what is yours right now, on one screen. |
lucen open | Open a robot, policy, dataset, run or sim test's page in your browser. |
Robots
| Command | What it does |
|---|
lucen robot init | Read an MJCF or URDF with MuJoCo and draft the robot's card. |
lucen robot validate | Check the card against the model in MuJoCo. Exits 1 on any failure. |
lucen robot publish | Validate, create the robot's repo, upload the files and set the card. |
lucen robot worker | Run the robot checks you queued from the browser, on this machine. |
lucen robot card get | Print a robot's card as JSON. |
lucen robot card set | Replace a robot's card from a JSON file, after the hub checks it. |
Data and policies
| Command | What it does |
|---|
lucen push | Upload a folder to a repo, creating the repo if it does not exist. |
lucen pull | Download a repo's files, checking each one's checksum. |
lucen datasets ls | List the datasets you can see. |
lucen datasets import | Import a LeRobot dataset from Hugging Face. |
lucen repo create | Create an empty dataset, policy or robot repo. |
lucen repo ls | List the repos you can see. |
lucen model stamp | Stamp a policy trained elsewhere with the inputs and outputs a robot expects. |
Train and test
| Command | What it does |
|---|
lucen train | Start a training run from a recipe file, and follow it with --follow. |
lucen runs create | Start a training run. It trains when a runner picks it up. |
lucen runs ls | List your training runs, newest first. |
lucen runs show | One run: its state, where it runs, and what it produced. |
lucen runs logs | Print a run's log, or follow it live. |
lucen runs checkpoints | List the checkpoints a run saved. |
lucen runs estimate | Price a recipe before you start it. |
lucen runs recommend | Which GPU a recipe needs, with the arithmetic. |
lucen runs cancel | Cancel a run. A running one is stopped by its runner. |
lucen runs import | Record a run trained elsewhere, so the Coach can read it. |
lucen worker run | The runner: train your queued runs on this machine. |
lucen rollout run | Start a sim test of a policy on a robot, or run it here with --local. |
lucen rollout worker | Run your queued sim tests on this machine. |
lucen rollout show | One sim test: its state, results and files. |
lucen rollout ls | List your sim tests, newest first. |
lucen rollout cancel | Cancel a queued or running sim test. |
lucen rollout publish | Publish a finished sim test with its policy. |
lucen rollout scan | Test each checkpoint of a run, 20 seeds by default. |
lucen rollout gates | The sim tests a run's checkpoints got while it trained. |
lucen rollout OWNER/POLICY --robot OWNER/ROBOT is short for lucen rollout run.
Run on a robot
| Command | What it does |
|---|
lucen endpoints create | Serve a skill policy from a GPU for a robot to call. |
lucen endpoints estimate | Price an endpoint before you create it. |
lucen endpoints ls | List your endpoints. |
lucen endpoints show | One endpoint, with every session and its numbers. |
lucen endpoints stop | Stop an endpoint. |
lucen serve | The endpoint server: serve a queued endpoint from this machine. |
Approving a policy onto a robot and stopping it happen in the browser. Only a
signed-in person can do either.
Lab
| Command | What it does |
|---|
lucen org ls | List your organizations and your role in each. |
lucen org create | Create an organization. You become its first owner. |
lucen org members | List an organization's members. |
lucen org add | Add a person by their hub handle, or change their role. |
lucen org remove | Remove a member. |
lucen org leave | Leave an organization. |
Shell
| Command | What it does |
|---|
lucen completion | Print the shell completion script. |
lucen version | Print the CLI's version. |
On the robot: lucen-device
The robot's own computer runs a second program, the robot driver.
Connect your robot shows how to install it.
| Command | What it does |
|---|
lucen-device pair | Join the hub with a short code. A person confirms it on the hub. |
lucen-device serve | Wait for approved policies, check each approval, run it and report. |
lucen-device status | This robot's registration, and what the hub last heard from it. |
lucen-device register | Register the robot with an API key, for a robot set up by hand. |
lucen-device trust | Show or change this robot's trust mode. Only the robot can change it. |
lucen-device adapters | List the installed adapters, or check one with --check. |
lucen-device signing-key | Show the hub's signing key this robot trusts. |
lucen-device interface | Show the robot description this robot is pinned to. |
lucen-device trial-log | Summarise one log on this robot, uploading nothing. |
lucen-device version | Print the driver's version. |