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.
Download endpoint
GET /api/v1/datasets/{uuid}/download?format=<fmt>
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"])
cw_download_dataset(dataset_uuid, format)
signed_url when ready (status: ready) or status: queued / processing with a poll_url when conversion is in flight.
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.
