| # Merged VLA LeRobot Dataset |
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| This dataset merges all integrity-valid sessions in the source directory. |
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| Selection rules: |
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| - invalid datasets from `integrity_report/report.json` are excluded; |
| - `lyh_grasp_4obj_50_s2` keeps source episodes `0..44` only; |
| - `lyh_grasp_4obj_50_s6` is excluded because `episode_timestamps.json` is missing. |
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| The dataset contains 1,445 episodes and 863,976 frames. The original videos and |
| parquet rows are kept in LeRobot-style directories. `episode_manifest.jsonl` is |
| the join point for external per-session files. Join on |
| `external_join_key = subject|session|source_episode_index`. |
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| Each data row also includes `source_dataset`, `source_subject`, |
| `source_session`, `source_episode_index`, and `source_frame_index`. |
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| The `sources/<subject>/<session>/` directories retain the original timestamp |
| sidecars. `meta/tasks.jsonl`, `meta/episodes.jsonl`, and |
| `meta/episodes_stats.jsonl` are included for newer LeRobot tooling; parquet |
| metadata files are retained as well. |
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| ## Local inspection |
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| ```python |
| import pyarrow.parquet as pq |
| |
| table = pq.read_table("data/chunk-000/file-000.parquet") |
| print(table.num_rows, table.column_names) |
| ``` |
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| For external data, read `episode_manifest.jsonl`, replace the |
| `external_data_file` placeholder with the actual per-session file path, and |
| join by `external_join_key`. |
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