LeRobot Dataset Sample

This section shows real acquisition data exported by Data-Processing-Tool and converted to LeRobot v2.1, making it easier to compare directory structure and observation fields used during training.

The sample comes from a dual-arm tabletop manipulation recording: 50 episodes, 25 FPS, and 960x540 resolution. The videos below show the file-016 segment, about 22 seconds. The task description is:

Pick up the blue cube and place it on the yellow cube.

Four-Camera Layout

The original cameras.mp4 is a 2x2 tiled video. After splitting, it maps to four observation.images.* fields in LeRobot:

left_eye      right_eye      <- head stereo / main view
left_wrist    right_wrist    <- wrist cameras

Field name	View	Typical OpenPI training mapping
observation.images.left_eye	Left eye / main camera	observation/image
observation.images.right_eye	Right eye	Can be selected as the main view or fused
observation.images.left_wrist	Left wrist	observation/wrist_image for the left arm
observation.images.right_wrist	Right wrist	Second wrist view for the right arm

Right Eye

The right-side head camera is used to observe the full workspace and relative positions of both arms.

Download right-eye sample video

Corresponding disk path in the exported v3.0 chunk layout:

videos/observation.images.right_eye/chunk-000/file-016.mp4

After conversion to v2.1, the same segment is usually located at:

videos/chunk-000/observation.images.right_eye/episode_000016.mp4

Right Wrist

The wrist camera mounted at the right arm end is close to the gripper and helps observe grasping and placement details.

Download right-wrist sample video

Corresponding disk path in the exported v3.0 chunk layout:

videos/observation.images.right_wrist/chunk-000/file-016.mp4

After conversion to v2.1, the same segment is usually located at:

videos/chunk-000/observation.images.right_wrist/episode_000016.mp4

Dataset Directory Structure Excerpt

lerobot_datasets-70-01-01-08-03-13/
  meta/
    info.json              # codebase_version, fps, features, etc.
    episodes.jsonl         # task and frame count for each episode
    tasks.jsonl
  data/
    chunk-000/
      episode_000001.parquet   # per-frame joint states, action, etc.
  videos/
    observation.images.right_eye/chunk-000/file-016.mp4   # v3.0
    observation.images.right_wrist/chunk-000/file-016.mp4
    # v2.1 example:
    # chunk-000/observation.images.right_eye/episode_000016.mp4

Example feature definitions in meta/info.json related to these videos:

Feature	Type	Shape / Description
observation.images.right_eye	video	540 x 960 x 3, H.264, 25 FPS
observation.images.right_wrist	video	540 x 960 x 3, H.264, 25 FPS
observation.state	float32	26D robot proprioceptive state
action	float32	56D action vector

Mapping to Training Configuration

OpenPI policy input usually uses only the main camera + one wrist camera. If training with dual-arm four-channel videos, specify the correct image_keys in openpi.training.config and map LeRobot fields to observation/image and observation/wrist_image.

After format conversion, continue with Dataset Conversion and Model Training.