lance-format/lerobot-xvla-soft-fold

LeRobot X-VLA Soft-Fold（Lance格式）数据集是X-VLA项目中的一个多摄像头机器人数据集，以Lance格式存储，旨在高效支持机器人学习任务。数据集包含1,542个episodes，总计2,852,512帧，帧率为20 FPS，每个episode提供三个摄像头流：cam_high、cam_left_wrist和cam_right_wrist。数据集还包括与帧时间戳对齐的机器人状态向量和动作向量。采用三表布局：frames.lance（每帧观测值、动作和索引）、episodes.lance（完整轨迹和摄像头视频片段）和videos.lance（原始MP4文件）。数据集支持快速随机访问、原生多模态存储、索引构建、数据演化、灵活查询和数据版本化，适用于帧级训练、轨迹分析和视频处理。数据集源自LeRobot v3.0格式，基于Apache 2.0许可证发布。

LeRobot X-VLA Soft-Fold (Lance Format) is a Lance-formatted version of the multi-camera robotics dataset from the X-VLA project. It contains 1,542 episodes, 2,852,512 frames at 20 FPS, with three camera streams per episode (cam_high, cam_left_wrist, cam_right_wrist), and includes robot state and action vectors aligned to frame timestamps. The dataset is organized into three Lance tables: frames (per-frame observations, actions, and indices), episodes (full trajectories with per-camera MP4 segments), and videos (raw MP4 files). It features fast random access, native multimodal support, index capabilities, efficient data evolution, versatile querying, and data versioning, suitable for frame-level training, episode-level analysis, and direct video access. The dataset is converted from LeRobot v3.0 format and released under Apache 2.0 license.