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CLI reference

Install: go install github.com/ioai-tech/lerobot-go/cmd/lerobot-go@latest

lerobot-go [global flags] <command> [command flags] [args]

Global flags

Flag Default Description
-v, --verbose false Log details to stderr
--ffmpeg-path — Path to ffmpeg (overrides PATH)
--json false JSON output on stdout (validate, create, merge, …)

Exit codes

Code Meaning
0 Success
1 Command failed (validation, I/O, merge error)
2 Usage / argument error

validate

Check that a directory matches LeRobot v2.1 or v3.0 on-disk layout.

lerobot-go validate ./dataset
lerobot-go validate ./dataset --json
lerobot-go validate ./dataset --tree -v
Flag Default Description
--strict true Full formatcheck when data/ exists
--tree false Print file tree (human-readable, stderr)

convert

Convert between v2.1 and v3.0. Writes to a new --output directory (no in-place edit).

lerobot-go convert -i ./dataset_v21 -o ./dataset_v30 --to v3.0
lerobot-go convert -i ./dataset_v30 -o ./dataset_v21 --to v2.1
Flag Default Description
-i, --input (required) Source dataset root
-o, --output (required) Destination root
--to (required) Target version: v2.1 or v3.0
--from auto Source version from meta/info.json
--force false Allow non-empty output directory
--data-file-size-mb 100 v3.0 data chunk rotation (MB)
--video-file-size-mb 200 v3.0 video chunk size (MB)
--chunks-size 1000 Max files per chunk

create

Finalize completed staging episodes (ep_*) into the official dataset layout. Equivalent to calling lerobot.Merge from the Go API.

Use after parallel episode writers finish under <output>/_staging (or --staging).

lerobot-go create -o ./dataset --version v3.0 --fps 30 --features ./features.json
lerobot-go create -o ./dataset --version v2.1 --fps 10 --features ./features.json --stats-mode full
lerobot-go create -o ./dataset --version v3.0 --fps 30 --features ./features.json \
  --staging /path/to/staging --force
Flag Default Description
-o, --output (required) Dataset root (final layout)
--version (required) v2.1 or v3.0
--features (required) JSON map of feature name → {dtype, shape}
--fps (required) Dataset FPS
--staging <output>/_staging Staging root with ep_* dirs
--robot-type — Stored in meta/info.json
--stats-mode sampled sampled or full for image/video stats
--force false Allow non-empty output directory

Features JSON example

{
  "observation.state": { "dtype": "float32", "shape": [7] },
  "action": { "dtype": "float32", "shape": [7] },
  "observation.images.cam": { "dtype": "video", "shape": [480, 640, 3] }
}

Use "dtype": "image" instead of "video" for parquet-embedded images (v2.1-img).

merge

Merge two or more completed datasets into one output dataset.

lerobot-go merge -o ./merged --to v3.0 -i ./a -i ./b
lerobot-go merge -o ./merged_v21 --to v2.1 ./ds1 ./ds2 ./ds3
Flag Default Description
-o, --output (required) Output dataset root
--to (required) Output version: v2.1 or v3.0
-i, --input — Source path (repeatable); positional args also accepted
--force false Allow non-empty output directory
--data-file-size-mb 100 v3.0 data chunk limit
--video-file-size-mb 200 v3.0 video chunk limit
--chunks-size 1000 Max files per chunk
--stats-mode sampled Used when recomputing media stats; source stats are kept when possible

version

lerobot-go version

completion

lerobot-go completion bash > /etc/bash_completion.d/lerobot-go
lerobot-go completion zsh > "${fpath[1]}/_lerobot-go"

Supported shells: bash, zsh, fish, powershell.