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Implement LeRobot v2.1 format - #286
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Shivang K Raghuvanshi (shivkr6) wants to merge 8 commits into
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Shivang K Raghuvanshi (shivkr6) wants to merge 8 commits into
Shivang K Raghuvanshi (shivkr6) wants to merge 8 commits into
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Shivang K Raghuvanshi (shivkr6)
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Shivang K Raghuvanshi (shivkr6)
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October 14, 2026 17:26
Introduce the episode reader scaffold and expose read_lerobot_v2_1 through the public pipeline API. Include storage-driver extras for cloud execution. Signed-off-by: Shivang K Raghuvanshi <shivangraghuvanshi2005@gmail.com>
Select per-episode path defaults and the feature info key for v2.1 metadata while preserving v3 defaults and explicit path templates. Pass codebase_version through feature parsing and serialization.
Shard meta/episodes.jsonl through JsonReader and load info, tasks, and aggregated episode stats. Cache merged per-root metadata and update the stub test to cover shard listing before episode reading is implemented.
Resolve per-episode Parquet paths, attach episode stats and video references, and yield aligned LeRobotTabular blocks. Validate frame counts and episode stats, support malformed-row skipping, and remap task indices across dataset roots. Update the reader test for the implemented episode-loading path.
Keep source video inputs for writing, but remove their URI columns from output episode metadata so references resolve through the newly written chunk and file indices.
Cover the v2.1 read path with 11 tests mirroring the v3 test suite: - episode row emission with metadata, stats, frames, and video URIs - frame count mismatch detection and graceful skip with metrics - shard planning knob passthrough and shard count limit - vectorized filter, select, and map_table side-data alignment - describe() and HF dataset URL handling - task index remapping across multiple dataset roots
Shivang K Raghuvanshi (shivkr6)
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fixes: #231
In-progress: need to update documentation