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most unit tests passing (TODO: convert datasets)

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Remi Cadene
2025-04-16 21:30:58 +02:00
parent c2a05a1fde
commit 6b6a990f4c
22 changed files with 150 additions and 136 deletions
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README.md
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@@ -178,6 +178,7 @@ Under the hood, the `LeRobotDataset` format makes use of several ways to seriali
Here are the important details and internal structure organization of a typical `LeRobotDataset` instantiated with `dataset = LeRobotDataset("lerobot/aloha_static_coffee")`. The exact features will change from dataset to dataset but not the main aspects:
```
TODO: IMPROVE
dataset attributes:
├ hf_dataset: a Hugging Face dataset (backed by Arrow/parquet). Typical features example:
│ ├ observation.images.cam_high (VideoFrame):
@@ -190,7 +191,7 @@ dataset attributes:
│ ├ timestamp (float32): timestamp in the episode
│ ├ next.done (bool): indicates the end of en episode ; True for the last frame in each episode
│ └ index (int64): general index in the whole dataset
├ episode_data_index: contains 2 tensors with the start and end indices of each episode
├ meta: contains 2 tensors with the start and end indices of each episode
│ ├ from (1D int64 tensor): first frame index for each episode — shape (num episodes,) starts with 0
│ └ to: (1D int64 tensor): last frame index for each episode — shape (num episodes,)
├ stats: a dictionary of statistics (max, mean, min, std) for each feature in the dataset, for instance