> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Dataset Export & Format Conversion

> Download and convert robot datasets to different formats from the UI, SDK, or API.

<Info>
  **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.
</Info>

## 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

```http theme={null}
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 |

<Note>
  `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.
</Note>

### 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)

```json theme={null}
{
  "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)

```json theme={null}
{
  "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

```python theme={null}
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.