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refactor(dataset): split LeRobotDataset into DatasetReader & DatasetWriter (+ API cleanup) (#3180)

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* refactor(dataset): split reader and writer

* chore(dataset): remove proxys

* refactor(dataset): better reader & writer encapsulation

* refactor(datasets): clean API + reduce leaky implementations

* refactor(dataset): API cleaning for writer, reader and meta

* refactor(dataset): expose writer & reader + other minor improvements

* refactor(dataset): improve teardown routine

* refactor(dataset): add hf_dataset property at the facade level

* chore(dataset): add init for datasset module

* docs(dataset): add docstrings for public API of the dataset classes

* tests(dataset): add tests for new classes

* fix(dataset): remove circular dependecy
This commit is contained in:
Steven Palma
2026-03-26 19:09:25 +01:00
committed by GitHub
parent 017ff73fbf
commit 123495250b
28 changed files with 2742 additions and 1158 deletions
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docs/source/il_robots.mdx
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@@ -424,7 +424,7 @@ robot = SO100Follower(robot_config)
robot.connect()
dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[episode_idx])
actions = dataset.hf_dataset.select_columns("action")
actions = dataset.select_columns("action")
log_say(f"Replaying episode {episode_idx}")
for idx in range(dataset.num_frames):