| license: mit | |
| language: | |
| - en | |
| tags: | |
| - robotics | |
| - simulation | |
| - hdf5 | |
| - labvla | |
| pretty_name: LabEmbodied-Data Beta | |
| # LabEmbodied-Data Beta | |
| LabEmbodied-Data Beta is a subset of **LabEmbodied-Data**, introduced in [LabVLA](https://arxiv.org/abs/2606.13578). It provides successful laboratory robot demonstrations with multi-view video, language instructions, robot states, actions, and structured annotations. | |
| ## Dataset layout | |
| ```text | |
| <robot>/<family>/<case>/ Episode files and task metadata | |
| meta/ Dataset information and episode indexes | |
| docs/ Data format reference | |
| examples/ Optional LeRobot conversion example | |
| ``` | |
| Each episode is stored in an H5 file. Use `meta/episodes.jsonl` to locate episodes and their associated metadata. File paths in the index are relative to the dataset root. | |
| ## Quick start | |
| Read H5 files directly with `h5py`; see the [data format reference](docs/data_format.md) for field definitions and Python usage. Camera videos are embedded in the H5 files. | |
| ## Optional LeRobot export | |
| The example exports states, actions, language, and RGB videos to LeRobot v3.0 using LeRobot 0.4.4. Run from the dataset root in a Python 3.10+ environment: | |
| ```bash | |
| pip install -r examples/requirements.txt | |
| python examples/convert_to_lerobot.py \ | |
| --source . --out ../labembodied-ur5e-lerobot \ | |
| --repo-id local/labembodied-ur5e --robot ur5e --max-episodes 2 | |
| ``` | |
| Omit `--max-episodes` to export all episodes for the selected robot. Joint values and column order are preserved. Videos are decoded and re-encoded; other annotations remain in the H5 files. The output includes `meta/source_episodes.jsonl` to map LeRobot indices to the original episode IDs. Nothing is uploaded. | |
| ## License | |
| [MIT](LICENSE). | |