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Update doc

This commit is contained in:
Simon Alibert 2024-10-18 00:29:50 +02:00
parent 354f37aed3
commit be64d54bd9
1 changed files with 25 additions and 13 deletions
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38
lerobot/common/datasets/lerobot_dataset.py
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@ -83,25 +83,37 @@ class LeRobotDataset(torch.utils.data.Dataset):
In terms of files, a typical LeRobotDataset looks like this from its root path:
.
├── README.md
├── data
│ ├── train-00000-of-00050.parquet
│ ├── train-00001-of-00050.parquet
│ ├── train-00002-of-00050.parquet
│ ...
│ ├── chunk-000
│ │ ├── train-00000-of-03603.parquet
│ │ ├── train-00001-of-03603.parquet
│ │ ├── train-00002-of-03603.parquet
│ │ └── ...
│ ├── chunk-001
│ │ ├── train-01000-of-03603.parquet
│ │ ├── train-01001-of-03603.parquet
│ │ ├── train-01002-of-03603.parquet
│ │ └── ...
│ └── ...
├── meta
│ ├── episodes.jsonl
│ ├── info.json
│ ├── stats.json
│ └── tasks.json
└── videos (optional)
├── observation.images.laptop_episode_000000.mp4
├── observation.images.laptop_episode_000001.mp4
├── observation.images.laptop_episode_000002.mp4
...
├── observation.images.phone_episode_000000.mp4
├── observation.images.phone_episode_000001.mp4
├── observation.images.phone_episode_000002.mp4
...
├── chunk-000
│ ├── observation.images.laptop
│ │ ├── episode_000000.mp4
│ │ ├── episode_000001.mp4
│ │ ├── episode_000002.mp4
│ │ └── ...
│ ├── observation.images.phone
│ │ ├── episode_000000.mp4
│ │ ├── episode_000001.mp4
│ │ ├── episode_000002.mp4
│ │ └── ...
├── chunk-001
└── ...
Note that this file-based structure is designed to be as versatile as possible. The files are split by
episodes which allows a more granular control over which episodes one wants to use and download. The