LeRobotDataset:v3.0: Bringing large-scale datasets to lerobot
TL;DR Today we release LeRobotDataset:v3! In our previous LeRobotDataset:v2 release, we stored one episode per file, hitting file-system limitations when scaling datasets to millions of episodes. LeRobotDataset:v3 packs multiple episodes in a single file, using relational metadata to retrieve information at the individual episode level from multi-episode files. The new format also natively supports accessing datasets in streaming mode, allowing to process large datasets on the fly.We provide a one-liner util to convert all datasets in the LeRobotDataset format to […]
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