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23e1f91 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 | # Data Preparation
The training code expects LeRobot-style data.
## Expected Dataset Layout
```text
<dataset_name>/
├── data/chunk-000/episode_*.parquet
├── meta/
│ ├── info.json
│ ├── episodes.jsonl
│ ├── episodes_stats.jsonl
│ └── tasks.jsonl
└── videos/chunk-000/*.mp4
```
## Useful Utilities
- ALOHA conversion example:
- `policy_and_value/policy_offline_and_value/examples/aloha_real/convert_to_lerobot.py`
- Lightweight LeRobot tools:
- `policy_and_value/policy_offline_and_value/mini_lerobot/`
- Dynamics-model video resize helper:
- `dynamics/dynamics_model/preprocess.sh`
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