From be64d54bd9e5efd0dae6c899d5a7fc05bf463529 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Fri, 18 Oct 2024 00:29:50 +0200 Subject: [PATCH] Update doc --- lerobot/common/datasets/lerobot_dataset.py | 38 ++++++++++++++-------- 1 file changed, 25 insertions(+), 13 deletions(-) diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index 6b149554..e2b65a19 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -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