protocol_v21.md

LeRobot v2.1 Write Protocol (Go reference)

Layout

• meta/info.json — codebase_version: "v2.1"
• meta/episodes.jsonl, meta/tasks.jsonl, meta/episodes_stats.jsonl
• data/chunk-000/episode_XXXXXX.parquet
• videos/chunk-000/{camera}/episode_XXXXXX.mp4

Differences from v3.0

• One parquet + one mp4 per episode (easier parallel write)
• JSONL metadata instead of parquet episodes table
• add_frame(frame, task) — task as separate argument in Python; Go Frame.Task field

Merge

Staging episodes copy to final paths; jsonl files appended; global stats aggregated.