nvidia/PhysicalAI-Robotics-Manipulation-Kitchen-Demos

lerobot/
├── meta/                               # Metadata files describing the dataset
│   ├── info.json                       # Dataset info (robot type, episodes, frames, fps, features)
│   ├── tasks.jsonl                     # Language instructions with task indices
│   ├── episodes.jsonl                  # Per-episode metadata (index, instruction, length)
│   ├── episodes_stats.jsonl            # Per-episode statistics for actions/proprioception
│   ├── stats.json                      # Aggregated statistics across all episodes
│   ├── modality.json                   # Info contained in observations and action vectors
│   └── embodiment.json                 # Embodiment information
│
├── data/                               # Low-dimensional trajectory data (parquet files)
│   └── chunk-<chunk_id>/
│       └── episode_<episode_id>.parquet   # Proprioception, actions, dones, timestamps
│
├── videos/                             # MP4 video files for each camera view
│   └── chunk-<chunk_id>/
│       ├── observation.images.robot0_agentview_left/
│       │   └── episode_<episode_id>.mp4   # Left third-person camera
│       ├── observation.images.robot0_agentview_right/
│       │   └── episode_<episode_id>.mp4   # Right third-person camera
│       └── observation.images.robot0_eye_in_hand/
│           └── episode_<episode_id>.mp4   # Eye-in-hand camera
│
└── extras/                             # MuJoCo-specific metadata (non-standard)
    ├── dataset_meta.json               # Environment args and controller configs
    └── episode_<episode_id>/           # Per-episode extras
        ├── ep_meta.json                # Episode metadata (kitchen layout, style, fixtures, objects)
        ├── model.xml.gz                # Compressed MJCF MuJoCo model XML
        └── states.npz                  # Raw MuJoCo states for replay (not for training)