Exports | Docs | Rayform

The export object

JSON

{
  "id": "exp_01JA9B",
  "object": "export",
  "slice": "slc_7c1e04aa",
  "format": "lerobot",
  "options": { "cameras": ["cam0/rgb", "wrist/rgb"], "fps": 15, "action": "joints/position_delta", "frame": "ros" },
  "destination": { "type": "s3", "uri": "s3://my-bucket/rayform/mug-grasps/" },
  "status": "completed",
  "progress": 1.0,
  "bytes": 18210443264,
  "files": 1648,
  "created_at": "2026-10-15T09:42:10Z",
  "completed_at": "2026-10-15T10:07:52Z"
}

Field	Type	Description
`status`	string	`queued`, `running`, `completed` or `failed`
`progress`	number	Fraction of segments written, from 0 to 1
`destination`	object	Where files were written; `type` is `s3`, `gcs` or `rayform`

Create an export

POST/v1/exports

Parameters

Name	Type	Required	Description
`slice`	string	yes	Slice ID
`format`	string	yes	`lerobot`, `rlds`, `webdataset`, `mcap`, `usd` or `mjcf`
`options`	object	no	See export options
`destination`	string	no	`s3://bucket/prefix/` or `gs://bucket/prefix/`; omit to keep files in Rayform storage

Request

Shell

curl https://api.rayform.world/v1/exports \
  -H "Authorization: Bearer $RAYFORM_API_KEY" \
  -H "Content-Type: application/json" \
  -H "Idempotency-Key: export-slc_7c1e04aa-lerobot-v1" \
  -d '{
    "slice": "slc_7c1e04aa",
    "format": "lerobot",
    "options": { "cameras": ["cam0/rgb", "wrist/rgb"], "fps": 15, "action": "joints/position_delta", "frame": "ros" },
    "destination": "s3://my-bucket/rayform/mug-grasps/"
  }'

Python

export = client.exports.create(
    "slc_7c1e04aa",
    format="lerobot",
    options={"cameras": ["cam0/rgb", "wrist/rgb"], "fps": 15, "action": "joints/position_delta", "frame": "ros"},
    destination="s3://my-bucket/rayform/mug-grasps/",
)
export.wait()

Response

Returns the export with status: "queued". If an export with the same slice, format, options and destination already completed, it is returned instead and nothing is written again.

Retrieve an export

GET/v1/exports/{id}

List an export's files

GET/v1/exports/{id}/files

For exports kept in Rayform storage, each file has a signed URL valid for 15 minutes. List again to get fresh URLs.

JSON

{
  "object": "list",
  "data": [
    { "path": "meta/info.json", "bytes": 4210, "url": "https://files.rayform.world/exp_01JA9B/meta/info.json?sig=..." },
    { "path": "data/chunk-000/episode_000000.parquet", "bytes": 1882301, "url": "https://files.rayform.world/...?sig=..." }
  ],
  "has_more": true,
  "next_cursor": "ZXhwXzAx"
}

Destinations

To export into your own bucket, allow Rayform's export role to write to the prefix. For S3:

bucket-policy.json

{
  "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Principal": { "AWS": "arn:aws:iam::RAYFORM_ACCOUNT_ID:role/rayform-export" },
      "Action": ["s3:PutObject", "s3:AbortMultipartUpload"],
      "Resource": "arn:aws:s3:::my-bucket/rayform/*",
      "Condition": { "StringEquals": { "s3:ExternalId": "org_7Hq2" } }
    }
  ]
}

The exact account ID and external ID for your organisation are shown in the console under Settings → Export destinations.