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README.md

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+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+
+# Gello Dataset - LeRobot v2.1 Format
+
+This dataset contains robotic manipulation demonstrations converted to the LeRobot v2.1 data format, matching the structure of the berkeley_autolab_ur5 dataset.
+
+## Dataset Overview
+
+- **Task**: Pick up the hard drive and place it in the grey box.
+- **Total Episodes**: 118
+- **Total Frames**: 79,141
+- **Total Videos**: 236 (2 video types per episode)
+- **Format**: LeRobot v2.1
+- **FPS**: 10
+- **Video Resolution**: 640x480
+
+## Directory Structure
+
+```
+gello_lerobot_v21/
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       └── ... (118 episodes total)
+├── meta/
+│   ├── episodes_stats.jsonl     # Per-episode statistics
+│   ├── episodes.jsonl           # Episode metadata
+│   ├── info.json               # Dataset metadata
+│   └── tasks.jsonl             # Task descriptions
+└── videos/
+    └── chunk-000/
+        ├── observation.images.hand_image/
+        │   ├── episode_000000.mp4
+        │   └── ... (118 videos)
+        └── observation.images.image/
+            ├── episode_000000.mp4
+            └── ... (118 videos)
+```
+
+## Data Fields
+
+### Observation Fields
+- **`observation.state`**: Robot joint positions and gripper state (7D float32)
+- **`observation.images.hand_image`**: Wrist camera view (640x480x3 video)
+- **`observation.images.image`**: Base camera view (640x480x3 video)
+
+### Action Fields
+- **`action`**: Robot actions (7D float32)
+
+### Metadata Fields
+- **`timestamp`**: Time step in seconds (float32)
+- **`episode_index`**: Episode identifier (int64)
+- **`frame_index`**: Frame index within episode (int64)
+- **`next.reward`**: Reward signal (float32)
+- **`next.done`**: Episode termination flag (bool)
+- **`index`**: Global frame index (int64)
+- **`task_index`**: Task identifier (int64)
+
+## Usage with LeRobot
+
+This dataset is compatible with LeRobot v2.1 tools and can be loaded using:
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+# Load the dataset
+dataset = LeRobotDataset("/path/to/gello_lerobot_v21")
+
+# Access episodes
+for episode in dataset:
+    print(f"Episode {episode['episode_index']}: {episode['total_frames']} frames")
+```
+
+## Video Format
+
+- **Codec**: AV1
+- **Resolution**: 640x480 pixels
+- **Channels**: 3 (RGB)
+- **Pixel Format**: YUV420p
+- **Frame Rate**: 10 FPS
+
+## Task Description
+
+All episodes in this dataset demonstrate the same task:
+> "Pick up the hard drive and place it in the grey box."
+
+## Dataset Statistics
+
+- **Average Episode Length**: 671 frames
+- **Average Episode Duration**: 67.1 seconds
+- **Episode Length Range**: 149-1,495 frames
+- **Success Rate**: 100% (all episodes completed successfully)
+- **Total Reward**: 118.0 (1.0 per episode)
+
+## File Formats
+
+### Parquet Files
+Each episode is stored as a Parquet file containing all the data fields with proper data types.
+
+### JSONL Files
+- **`episodes_stats.jsonl`**: Detailed statistics for each episode
+- **`episodes.jsonl`**: Episode metadata including task assignments
+- **`tasks.jsonl`**: Task definitions
+
+### JSON Files
+- **`info.json`**: Dataset metadata including feature specifications, splits, and paths
+
+## Conversion Notes
+
+This dataset was converted from raw Gello pickle files using the `gello_to_lerobot.py` script. The conversion process:
+
+1. Loads raw demonstration data from pickle files
+2. Processes images (resize to 256x256, convert to videos)
+3. Creates LeRobot v2.1 directory structure
+4. Saves episodes as individual Parquet files
+5. Generates metadata files in the required format
+
+## Compatibility
+
+This dataset follows the same structure as the berkeley_autolab_ur5 dataset and is fully compatible with:
+- LeRobot v2.1 data loading utilities
+- HuggingFace datasets library
+- Standard machine learning frameworks (PyTorch, TensorFlow)
+
+## License
+
+This dataset is provided for research and educational purposes. Please refer to the original Gello dataset license for usage terms.