Dataset Export & Format Conversion

Robot datasets first. Export and format conversion is available for robot datasets (LeRobot, RLDS, Cyberwave Parquet, and other Forge-readable sources). Support for image, video, audio, and multimodal dataset formats is planned for a future release.

Export tab (UI)

Every robot dataset detail page has an Export tab alongside Overview, Files, and Code. It shows a matrix of all supported output formats with their current status and a one-click conversion flow.

Convert — starts a conversion job for that format; the row updates live as the job runs
Download — available once a conversion is ready; generates a fresh 24-hour signed URL
Retry — re-triggers a failed conversion

Datasets whose source format is not a robot format (image directories, COCO, FiftyOne, etc.) show a “Conversion not available” message in the Export tab. Formats marked Coming soon are planned but not yet validated end-to-end. Clicking Convert on them records your interest so we can prioritise accordingly.

Including audio

If your recordings include microphone audio, tick Include audio when creating the dataset (or set include_audio: true on the create request). It is off by default, so existing exports are unchanged. When enabled, the export bundle gains an audio/ folder:

one trimmed MP3 per episode and microphone, covering that episode’s time window
an audio/manifest.json that maps each clip to the dataset rows (by episode) so you can line audio up with the state/action timeline

The audio travels alongside the data as companion files — it is never mixed into the parquet. This is a Cyberwave companion format for portability across export formats; it is not a native audio feature of the LeRobot dataset spec, so LeRobot tooling will not auto-load it as audio.

Download endpoint

GET /api/v1/datasets/{uuid}/download?format=<fmt>

This endpoint is idempotent: calling it multiple times does not spawn duplicate conversion tasks.

Supported output formats

`format` value	Description	Status
`parquet` (alias: `plain`)	Cyberwave joined-parquet zip — native robot format	✓ Available
`lerobot3` (alias: `lerobot`)	LeRobot v3 (HuggingFace, Parquet + MP4)	✓ Available
`rlds`	RLDS / TF-Record (Open-X-Embodiment style)	✓ Available
`openvla`	Cyberwave OpenVLA TFDS bundle (requires camera role assignment)	✓ Available
`robodm`	Berkeley .vla format	🔜 Coming soon
`mcap`	MCAP (Foxglove)	🔜 Coming soon
`gr00t`	NVIDIA GR00T	🔜 Coming soon
`hdf5`	HDF5	🔜 Coming soon
`zarr`	Zarr	🔜 Coming soon
`rosbag`	ROS bag	🔜 Coming soon

lerobot21 is no longer a separate output format. The backend normalises LeRobot v2.1 source datasets to lerobot3 automatically. Deprecated aliases plain and lerobot are accepted but new integrations should use the canonical values.

Response codes

Code	Meaning
`200`	Artifact is ready — `signed_url` is valid for 24 hours
`202`	Conversion is queued or running — poll until you get a `200`
`422`	Format not yet supported (coming-soon targets), or dataset is not a robot dataset

Example — artifact ready (200)

{
  "format": "lerobot3",
  "status": "ready",
  "signed_url": "https://storage.googleapis.com/...",
  "expires_at": "2026-05-05T15:00:00+00:00",
  "processed_dataset_uuid": "a1b2c3d4-..."
}

Example — conversion in progress (202)

{
  "format": "rlds",
  "status": "queued",
  "message": "Dataset conversion to 'rlds' is queued. Poll /api/v1/datasets/.../download?format=rlds until status is 'ready'.",
  "processed_dataset_uuid": "a1b2c3d4-...",
  "poll_url": "/api/v1/datasets/{uuid}/download?format=rlds"
}

Python SDK

import time
from cyberwave import Cyberwave

cw = Cyberwave(api_key="...")
ds = cw.datasets.get("dataset-uuid")

# Request a specific output format — triggers conversion if needed
result = ds.download(format="lerobot3")

if result["status"] == "ready":
    print(result["signed_url"])   # valid for 24 hours
else:
    while result["status"] != "ready":
        time.sleep(5)
        result = ds.download(format="lerobot3", wait=False)
    print(result["signed_url"])

MCP tool

cw_download_dataset(dataset_uuid, format)

Returns signed_url when ready (status: ready) or status: queued / processing with a poll_url when conversion is in flight.

Source formats (import / detection)

Cyberwave detects the source format of imported datasets and stores it on the dataset record. Only robot source formats are eligible for conversion.

Source format	Description	Conversion eligible
`cyberwave_parquet`	Cyberwave native joined-parquet (natively generated datasets)	✓
`lerobot3`	LeRobot v3	✓
`lerobot21`	LeRobot v2.1 (normalised to `lerobot3` for output)	✓
`lerobot`	LeRobot (version not yet determined)	✓
`rlds`	TFDS / Open-X-Embodiment	✓
`gr00t`	NVIDIA Isaac GR00T	✓
`robodm`	Berkeley .vla	✓
`hdf5`	Robomimic / ACT / ALOHA	✓
`zarr`	Diffusion Policy / UMI	✓
`mcap`	ROS2 CDR + Foxglove Protobuf	✓
`rosbag`	ROS1 .bag / ROS2 SQLite3	✓
Image / video / CV formats	COCO, YOLO, VOC, ImageNet, FiftyOne, etc.	— Not yet

ML Training

When you start an ML training from a robot dataset, Cyberwave converts it to the required format automatically. Training launches once conversion completes — no manual action needed. Camera role assignment is required for multi-camera imported datasets when using the openvla format.

Concepts

Platform Features

Cyberwave Edge

Technical Reference

Use-Case Recipes

Dataset Export & Format Conversion

Export tab (UI)

Including audio

Download endpoint

Supported output formats

Response codes

Example — artifact ready (200)

Example — conversion in progress (202)

Python SDK

MCP tool

Source formats (import / detection)

ML Training

​Export tab (UI)

​Including audio

​Download endpoint

​Supported output formats

​Response codes

​Example — artifact ready (200)

​Example — conversion in progress (202)

​Python SDK

​MCP tool

​Source formats (import / detection)

​ML Training

Export tab (UI)

Including audio

Download endpoint

Supported output formats

Response codes

Example — artifact ready (200)

Example — conversion in progress (202)

Python SDK

MCP tool

Source formats (import / detection)

ML Training