Tavish9/any4lerobot

🎁 A collection of utilities for LeRobot.

What it solves

Any4LeRobot is a utility collection designed to simplify the process of preparing and managing datasets for the LeRobot library. It addresses the difficulty of converting data from various robotics datasets into a format compatible with LeRobot, as well as managing version changes in the LeRobot dataset format.

How it works

The project provides a set of specialized scripts and tools for data manipulation. It includes a Generic Converter to allow users to build new dataset-to-LeRobot converters with minimal code, and specific converters for datasets such as Open X-Embodiment, AgiBot-World, RoboMIND, LIBERO, and RoboCasa. It also provides tools for merging multi-source datasets and scripts to convert between different versions of theRobot dataset format (e.g., v2.1 to v3.0).

Who it’s for

This tool collection is for robotics researchers and developers using the LeRobot library who need to integrate external datasets or maintain dataset compatibility across different library versions.

Highlights

  • Multi-source Data Conversion: Supports conversion from Open X-Embodiment, RoboCasa, LIBERO, and others to LeRobot format.
  • Generic Converter: An efficient framework for creating new custom dataset converters.
  • Version Management: Scripts to upgrade or downgrade LeRobot dataset versions (e.g., v1.6, v2.0, v2.1, v3.0).
  • Dataset Utilities: Tools for merging multiple LeRobot datasets into one.

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