Working with Studio Datasets

Studio data lives in library/src/physicalai/data/. Datasets use the LeRobot format and are consumed through Lightning datamodules. The datamodules are first-class Python API objects; YAML/CLI configs are a serialization of the same construction path.

Key modules:

• data/lerobot/datamodule.py — LeRobotDataModule (the class configs reference as physicalai.data.lerobot.LeRobotDataModule).
• data/lerobot/dataset.py — LeRobot dataset wrapper.
• data/lerobot/converters.py — DataFormat (StrEnum: physicalai, lerobot) and bidirectional field mapping between the two layouts.
• data/observation.py — Observation, Feature, FeatureType, NormalizationParameters.
• data/datamodules.py — base DataModule (Lightning LightningDataModule, auto num-workers heuristic).
• data/dataset.py — base Dataset; data/gym.py — GymDataset for gym-generated data.

Python API usage

Use this path for notebooks, tests, direct batch inspection, or debugging dataloading without involving the training CLI.

from physicalai.data import LeRobotDataModule