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The lerobot-edit-dataset command provides tools for modifying datasets including deleting episodes, splitting, merging, removing features, modifying tasks, and converting image datasets to video format.

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Command

lerobot-edit-dataset [OPTIONS]
Location: src/lerobot/scripts/lerobot_edit_dataset.py

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Overview

Supported operations:
  • delete_episodes: Remove specific episodes from dataset
  • split: Split dataset into train/val/test sets
  • merge: Combine multiple datasets into one
  • remove_feature: Delete camera or sensor features
  • modify_tasks: Update task descriptions
  • convert_image_to_video: Convert image dataset to video format
  • info: Display dataset statistics

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Key Options

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Dataset Options

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--repo_id
str
Input dataset repository ID. Required for all operations except merge.
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--root
str
Local path to input dataset. Defaults to $HF_LEROBOT_HOME/{repo_id}.
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--new_repo_id
str
Output dataset repository ID. Required for merge, optional for others.
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--new_root
str
Local path for output dataset. Defaults to $HF_LEROBOT_HOME/{new_repo_id}.
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--push_to_hub
bool
default:"false"
Upload result to Hugging Face Hub.

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Operation Configuration

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--operation.type
str
required
Operation to perform: delete_episodes, split, merge, remove_feature, modify_tasks, convert_image_to_video, or info.
Additional options depend on operation type (see examples below).

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Usage Examples

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Delete Episodes

Remove specific episodes from a dataset: 
lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=delete_episodes \
  --operation.episode_indices="[0, 2, 5]"
This creates a backup at pusht_old and modifies the dataset in-place.

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Save to New Dataset

lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --new_repo_id=lerobot/pusht_filtered \
  --operation.type=delete_episodes \
  --operation.episode_indices="[0, 2, 5, 10, 15]"

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Split Dataset

Split into train/val sets by fractions: 
lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=split \
  --operation.splits='{"train": 0.8, "val": 0.2}'
Creates:
  • lerobot/pusht_train (80% of episodes)
  • lerobot/pusht_val (20% of episodes)

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Split by Episode Indices

lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=split \
  --operation.splits='{"train": [0, 1, 2, 3, 4], "val": [5, 6], "test": [7, 8, 9]}'

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Custom Output Location

lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --new_root=/path/to/splits \
  --operation.type=split \
  --operation.splits='{"train": 0.7, "val": 0.15, "test": 0.15}'
Creates splits in /path/to/splits/train, /path/to/splits/val, /path/to/splits/test.

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Merge Datasets

Combine multiple datasets: 
lerobot-edit-dataset \
  --new_repo_id=lerobot/pusht_merged \
  --operation.type=merge \
  --operation.repo_ids="['lerobot/pusht_train', 'lerobot/pusht_val']"

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Merge from Local Paths

lerobot-edit-dataset \
  --new_repo_id=lerobot/combined_dataset \
  --operation.type=merge \
  --operation.repo_ids="['dataset1', 'dataset2']" \
  --operation.roots="['/path/to/dataset1', '/path/to/dataset2']"

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Merge and Push to Hub

lerobot-edit-dataset \
  --new_repo_id=myuser/merged_dataset \
  --operation.type=merge \
  --operation.repo_ids="['lerobot/pusht', 'lerobot/aloha_mobile_cabinet']" \
  --push_to_hub=true

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Remove Feature

Delete camera or sensor features: 
lerobot-edit-dataset \
  --repo_id=lerobot/aloha_mobile_cabinet \
  --operation.type=remove_feature \
  --operation.feature_names="['observation.images.top']"
Removes the observation.images.top camera from the dataset.

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Remove Multiple Features

lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --new_repo_id=lerobot/pusht_minimal \
  --operation.type=remove_feature \
  --operation.feature_names="['observation.images.wrist', 'observation.depth']"

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Modify Tasks

WARNING: Modifies dataset in-place! Back up first.

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Set Single Task for All Episodes

lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=modify_tasks \
  --operation.new_task="Push the T-shaped block to the target"

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Set Different Tasks per Episode

lerobot-edit-dataset \
  --repo_id=myuser/my_dataset \
  --operation.type=modify_tasks \
  --operation.episode_tasks='{"0": "Pick red cube", "1": "Pick blue cube", "2": "Pick green cube"}'

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Set Default with Overrides

lerobot-edit-dataset \
  --repo_id=myuser/my_dataset \
  --operation.type=modify_tasks \
  --operation.new_task="Standard pick and place" \
  --operation.episode_tasks='{"5": "Pick fragile object", "10": "Pick heavy object"}'

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Convert Image to Video

Convert image-based dataset to video format for smaller storage: 
lerobot-edit-dataset \
  --repo_id=lerobot/pusht_image \
  --new_repo_id=lerobot/pusht_video \
  --operation.type=convert_image_to_video

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Custom Video Settings

lerobot-edit-dataset \
  --repo_id=lerobot/pusht_image \
  --new_repo_id=lerobot/pusht_video \
  --operation.type=convert_image_to_video \
  --operation.vcodec=h264_nvenc \
  --operation.crf=23 \
  --operation.num_workers=8

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Convert and Push to Hub

lerobot-edit-dataset \
  --repo_id=myuser/dataset_image \
  --new_repo_id=myuser/dataset_video \
  --operation.type=convert_image_to_video \
  --push_to_hub=true

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Dataset Info

Display dataset statistics: 
lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=info
Output: 
======Info lerobot/pusht
Repository ID: lerobot/pusht 
Total episode: 100 
Total task: 1 
Total frame(Actual Count): 4500(4500) 
Average frame per episode: 45.0
Average episode time(sec): 1.5
FPS: 30
Size: 1234.5 MB

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Show Feature Details

lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=info \
  --operation.show_features=true
Shows full feature schema in JSON format.

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Video Encoding Options

For convert_image_to_video operation:
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--operation.vcodec
str
default:"libsvtav1"
Video codec: h264, hevc, libsvtav1, h264_nvenc, h264_videotoolbox, etc.
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--operation.pix_fmt
str
default:"yuv420p"
Pixel format for compatibility.
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--operation.g
int
default:"2"
GOP size (keyframe interval).
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--operation.crf
int
default:"30"
Constant rate factor (lower = higher quality, larger file).
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--operation.num_workers
int
default:"4"
Number of parallel encoding workers.

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In-Place vs New Dataset

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In-Place Modification

When new_repo_id and new_root are not specified: 
lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --operation.type=delete_episodes \
  --operation.episode_indices="[0]"
  • Creates backup: pusht_old/
  • Modifies original dataset location
  • Use for permanent changes

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New Dataset Creation

When new_repo_id or new_root is specified: 
lerobot-edit-dataset \
  --repo_id=lerobot/pusht \
  --new_repo_id=lerobot/pusht_modified \
  --operation.type=delete_episodes \
  --operation.episode_indices="[0]"
  • Original dataset unchanged
  • Creates new dataset at new_root or $HF_LEROBOT_HOME/new_repo_id
  • Use when preserving original

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Path Semantics

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Default Paths

# Uses $HF_LEROBOT_HOME/lerobot/pusht
lerobot-edit-dataset --repo_id=lerobot/pusht ...

# Uses $HF_LEROBOT_HOME/lerobot/pusht_new
lerobot-edit-dataset --repo_id=lerobot/pusht --new_repo_id=lerobot/pusht_new ...

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Explicit Paths

# Uses /path/to/dataset
lerobot-edit-dataset --repo_id=lerobot/pusht --root=/path/to/dataset ...

# Uses /path/to/output
lerobot-edit-dataset --repo_id=lerobot/pusht --new_root=/path/to/output ...

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Programmatic Usage

from lerobot.scripts.lerobot_edit_dataset import (
    edit_dataset,
    EditDatasetConfig,
    DeleteEpisodesConfig
)

config = EditDatasetConfig(
    repo_id="lerobot/pusht",
    new_repo_id="lerobot/pusht_filtered",
    operation=DeleteEpisodesConfig(
        episode_indices=[0, 2, 5]
    ),
    push_to_hub=False,
)

edit_dataset(config)

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Best Practices

  1. Backup First: Always backup before in-place modifications
  2. Test on Subset: Test operations on small datasets first
  3. Verify Output: Check result before pushing to Hub
  4. Use New Dataset: Prefer new_repo_id over in-place for safety
  5. Document Changes: Record what operations were performed

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See Also

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