Rerun

Common

An open-source visualization tool for multimodal, time-series robot data — images, point clouds, and curves played back in sync.

Rerun is an open-source visualization SDK and viewer developed by the Swedish company Rerun, with bindings for Python, Rust, and C++. Developers call rr.log in their code to record images, depth maps, point clouds, 3D poses, scalar curves, text, and more, each tagged with a timestamp; the viewer lays all of it out on one shared timeline that can be scrubbed, replayed, and compared. It doesn't depend on ROS — installing a single pip package is enough to use it — which makes it convenient for debugging perception algorithms, inspecting a dataset, or watching a policy's inference process. Hugging Face's LeRobot uses it to visualize the camera footage and joint trajectories in its datasets, and many embodied-AI projects use it as a quicker alternative to RViz.

ExampleOpening an episode with LeRobot's dataset-visualization script shows the wrist camera footage and each joint's angle curve side by side in Rerun.

Also called: rerun.io, Rerun Viewer
Related: RViz / RViz2 · Foxglove Studio · PlotJuggler · LeRobot · Viser
Sources: Rerun documentation
rerun-io/rerun - GitHub