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v1.1.0 Latest Latest Go to latest Published: Jun 11, 2026 License: MIT Imports: 8 Imported by: 0

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Repository

github.com/ioai-tech/lerobot-go

Documentation ¶

Index ¶

Constants
Variables
func DataPath(chunk, file int) string
func EpisodeChunk(episodeIndex, chunksSize int) int
func EpisodesMetaPath(chunk, file int) string
func FileSizeMB(path string) (float64, error)
func FormatChunkFile(chunk, file int) string
func FormatPathTemplate(template string, episodeIndex, chunkIndex, fileIndex int, videoKey string) string
func ParquetUncompressedSizeMB(path string) (float64, error)
func UpdateChunkFileIndices(chunkIdx, fileIdx, chunksSize int) (int, int)
func UpdateVideoFeaturesInfo(ctx context.Context, info *DatasetInfo, root string, locator video.Locator) error
func V21DataPath(episode int) string
func V21DataPathFromInfo(info DatasetInfo, episodeIndex int) string
func V21VideoPath(videoKey string, episode int) string
func V21VideoPathFromInfo(info DatasetInfo, videoKey string, episodeIndex int) string
func VideoPath(videoKey string, chunk, file int) string
func WriteInfo(root string, info DatasetInfo) error
func WriteStats(root string, stats map[string]map[string]any) error
type DatasetInfo
- func LoadInfo(root string) (DatasetInfo, error)
- func NewDatasetInfo(codebase string, fps int, features map[string]FeatureSpec, useVideos bool, ...) DatasetInfo
type FeatureSpec
- func (f FeatureSpec) Equal(other FeatureSpec) bool
- func (f FeatureSpec) MarshalJSON() ([]byte, error)
- func (f *FeatureSpec) UnmarshalJSON(data []byte) error

Constants ¶

View Source

const (
	CodebaseV21 = "v2.1"
	CodebaseV30 = "v3.0"

	// Official path templates (lerobot v0.3.3 / v0.5.1 datasets.utils).
	V21DefaultDataPathTemplate  = "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"
	V21DefaultVideoPathTemplate = "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4"
	V30DefaultDataPathTemplate  = "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"
	V30DefaultVideoPathTemplate = "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"

	DefaultChunkSize         = 1000
	DefaultDataFileSizeInMB  = 100
	DefaultVideoFileSizeInMB = 200
	ChunkFilePattern         = "chunk-%03d/file-%03d"
	InfoPath                 = "meta/info.json"
	StatsPath                = "meta/stats.json"
	DefaultTasksPath         = "meta/tasks.parquet"
	EpisodesDir              = "meta/episodes"
	DataDir                  = "data"
	VideoDir                 = "videos"
	LegacyEpisodesPath       = "meta/episodes.jsonl"
	LegacyEpisodesStatsPath  = "meta/episodes_stats.jsonl"
	LegacyTasksPath          = "meta/tasks.jsonl"
	DefaultImagePath         = "images/%s/episode-%06d/frame-%06d.png"
)

Variables ¶

View Source

var DefaultFeatures = map[string]FeatureSpec{
	"timestamp":     {DType: "float32", Shape: []int{1}},
	"frame_index":   {DType: "int64", Shape: []int{1}},
	"episode_index": {DType: "int64", Shape: []int{1}},
	"index":         {DType: "int64", Shape: []int{1}},
	"task_index":    {DType: "int64", Shape: []int{1}},
}

DefaultFeatures are auto-injected columns (lerobot.utils.constants.DEFAULT_FEATURES).

Functions ¶

func DataPath ¶

func DataPath(chunk, file int) string

func EpisodeChunk ¶

func EpisodeChunk(episodeIndex, chunksSize int) int

EpisodeChunk returns the chunk index for a v2.1 per-episode layout.

func EpisodesMetaPath ¶

func EpisodesMetaPath(chunk, file int) string

func FileSizeMB ¶

func FileSizeMB(path string) (float64, error)

FileSizeMB returns on-disk file size in megabytes.

func FormatChunkFile ¶

func FormatChunkFile(chunk, file int) string

func FormatPathTemplate ¶

func FormatPathTemplate(template string, episodeIndex, chunkIndex, fileIndex int, videoKey string) string

FormatPathTemplate expands LeRobot path templates from info.json.

func ParquetUncompressedSizeMB ¶

func ParquetUncompressedSizeMB(path string) (float64, error)

ParquetUncompressedSizeMB mirrors io_utils.get_parquet_file_size_in_mb (uncompressed bytes).

func UpdateChunkFileIndices ¶

func UpdateChunkFileIndices(chunkIdx, fileIdx, chunksSize int) (int, int)

UpdateChunkFileIndices mirrors lerobot.datasets.utils.update_chunk_file_indices.

func UpdateVideoFeaturesInfo ¶

func UpdateVideoFeaturesInfo(ctx context.Context, info *DatasetInfo, root string, locator video.Locator) error

UpdateVideoFeaturesInfo fills features[].info from the first on-disk video file, matching dataset_metadata.update_video_info (lerobot v0.5.1).

func V21DataPath ¶

func V21DataPath(episode int) string

func V21DataPathFromInfo ¶

func V21DataPathFromInfo(info DatasetInfo, episodeIndex int) string

V21DataPathFromInfo resolves the data parquet path for an episode using info.DataPath.

func V21VideoPath ¶

func V21VideoPath(videoKey string, episode int) string

func V21VideoPathFromInfo ¶

func V21VideoPathFromInfo(info DatasetInfo, videoKey string, episodeIndex int) string

V21VideoPathFromInfo resolves a video path for an episode and camera key.

func VideoPath ¶

func VideoPath(videoKey string, chunk, file int) string

func WriteInfo ¶

func WriteInfo(root string, info DatasetInfo) error

func WriteStats ¶

func WriteStats(root string, stats map[string]map[string]any) error

Types ¶

type DatasetInfo ¶

type DatasetInfo struct {
	CodebaseVersion    string                 `json:"codebase_version"`
	FPS                int                    `json:"fps"`
	Features           map[string]FeatureSpec `json:"features"`
	TotalEpisodes      int                    `json:"total_episodes"`
	TotalFrames        int                    `json:"total_frames"`
	TotalTasks         int                    `json:"total_tasks"`
	ChunksSize         int                    `json:"chunks_size"`
	DataFilesSizeInMB  int                    `json:"data_files_size_in_mb"`
	VideoFilesSizeInMB int                    `json:"video_files_size_in_mb"`
	DataPath           string                 `json:"data_path"`
	VideoPath          *string                `json:"video_path,omitempty"`
	RobotType          *string                `json:"robot_type,omitempty"`
	Splits             map[string]string      `json:"splits,omitempty"`
	TotalChunks        *int                   `json:"total_chunks,omitempty"`
	TotalVideos        *int                   `json:"total_videos,omitempty"`
}

func LoadInfo ¶

func LoadInfo(root string) (DatasetInfo, error)

func NewDatasetInfo ¶

func NewDatasetInfo(codebase string, fps int, features map[string]FeatureSpec, useVideos bool, robotType string) DatasetInfo

type FeatureSpec ¶

type FeatureSpec struct {
	DType string         `json:"dtype"`
	Shape []int          `json:"shape"`
	Names interface{}    `json:"names,omitempty"`
	Info  map[string]any `json:"info,omitempty"`
	Extra map[string]any `json:"-"`
}

func (FeatureSpec) Equal ¶

func (f FeatureSpec) Equal(other FeatureSpec) bool

func (FeatureSpec) MarshalJSON ¶

func (f FeatureSpec) MarshalJSON() ([]byte, error)

func (*FeatureSpec) UnmarshalJSON ¶

func (f *FeatureSpec) UnmarshalJSON(data []byte) error

Source Files ¶

View all Source files

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