Glossary

Episode Format

The data structure used to store a single demonstration or rollout: a sequence of (observation, action, reward, done) tuples from start to termination. Common episode formats include HDF5 files (one file per episode), RLDS records (TFRecord sequences), and LeRobot datasets (Parquet + video). Standardized episode formats enable interoperability between data collection and training pipelines.

Data

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