Sample dataset

├── meta/
│   ├── info.json                    # Dataset metadata, features schema
│   ├── episodes.jsonl               # Episode boundaries and lengths
│   ├── tasks.jsonl                  # Task descriptions and indices
│   └── stats.json                   # Pre-computed normalization statistics
│
├── data/
│   ├── chunk-000/
│   │   ├── episode_000000.parquet   # State, action, timestamps per episode
│   │   ├── episode_000001.parquet
│   │   └── ...
│   └── chunk-001/
│       └── ...
│
├── videos/
│   ├── observation.images.base_0_rgb/
│   │   ├── episode_000000.mp4       # Third-person camera
│   │   ├── episode_000001.mp4
│   │   └── ...
│   ├── observation.images.left_wrist_0_rgb/
│   │   └── ...                      # Left wrist camera
│   └── observation.images.right_wrist_0_rgb/
│       └── ...                      # Right wrist camera (if bimanual)
│
└── assets/
    └── motionledger_franka_v1/
        └── norm_stats.json          # Pre-computed normalization stats

{
  "codebase_version": "v2.0",
  "robot_type": "franka",
  "total_episodes": 812,
  "total_frames": 487200,
  "fps": 50,
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [8],
      "names": [
        "joint_0", "joint_1", "joint_2", "joint_3",
        "joint_4", "joint_5", "joint_6", "gripper"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [8],
      "names": [
        "joint_0", "joint_1", "joint_2", "joint_3",
        "joint_4", "joint_5", "joint_6", "gripper"
      ]
    },
    "observation.images.base_0_rgb": {
      "dtype": "video",
      "shape": [480, 640, 3],
      "video_info": {"fps": 30, "codec": "h264"}
    },
    "observation.images.left_wrist_0_rgb": {
      "dtype": "video",
      "shape": [480, 640, 3],
      "video_info": {"fps": 30, "codec": "h264"}
    }
  },
  "splits": {"train": "0:750", "val": "750:812"}
}

{"task_index": 0, "task": "Pick up the red block and place it in the bin"}
{"task_index": 1, "task": "Grab the crimson cube and put it in the container"}
{"task_index": 2, "task": "Lift the red object and drop it in the box"}
{"task_index": 3, "task": "Open the drawer"}
{"task_index": 4, "task": "Pull the drawer handle to open it"}
{"task_index": 5, "task": "Grasp the drawer and slide it out"}

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# Point to your local dataset or HuggingFace repo
dataset = LeRobotDataset(
    repo_id="motionledger/franka_pick_place_v1",  # or local path
    split="train",
)

# Access an episode
episode = dataset[0]

# Available keys
print(episode.keys())
# dict_keys([
#   'observation.state',              # [T, 8] joint positions + gripper
#   'action',                         # [T, 8] joint commands + gripper
#   'observation.images.base_0_rgb',  # [T, H, W, 3] third-person video
#   'observation.images.wrist_0_rgb', # [T, H, W, 3] wrist camera video
#   'timestamp',                      # [T] seconds from episode start
#   'task',                           # language instruction string
#   'episode_index',                  # int
#   'frame_index',                    # [T] int
# ])

# Normalization stats are loaded automatically
print(dataset.stats.keys())
# dict_keys(['observation.state', 'action'])