LeRobotDataset v2.1

[aliberts]

Blockers

• Per-episode stats Per-episode stats #521
• Changes from Add frame level task #693
• Ensure simple and consistent typing for the episode_buffer (use np arrays) Validate features during add_frame + Add 2D-to-5D + Add string #720
• Remove the need for local_files_only, only use codebase_version from info.json and delete non-main branches Remove local_files_only and use codebase_version instead of branches #734
• Harmonize features for datasets and features for policies abstractions
• Remove the consolidate() method
• Rename LEROBOT_HOME -> HF_LEROBOT_HOME and include HF_HOME

What this does

TODO

TODOs in later PRs

• Use standard hf_dataset.set_format("torch") instead of custom hf_dataset.set_transform(hf_transform_to_torch)
• Multi dataset, features mapping

How it was tested

TODO

How to checkout & try? (for the reviewer)

TODO