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26 days ago
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Export runs as LeRobot datasets
Chandra KiranUnverified signaturePOST /datasets/export turns finished runs of one robot into a LeRobot dataset: observation.state and .velocity (the robot's joints), action (the commanded controls), observation.images.main (the video, 640x360) and the scenario text as the task. With HF_TOKEN in the Modal secret it is pushed to the Hub as a private dataset; otherwise the zip is stored with the job. Verified end to end with lerobot 0.4.4 (write, then load back); CI repeats that with a Go2. Trajectories now also carry every body's world pose, for replay renders.b357d7d