| # 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` | |