Data Preparation
The training code expects LeRobot-style data.
Expected Dataset Layout
<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