Rerun has a built in data-loader to visualize LeRobot datasets.

Here is a sample dataset used in SmolVLA

git lfs install # If not already installed
git clone https://huggingface.co/datasets/satvikahuja/mixer_on_off_new_1

Then you can open the Viewer and select the directory to load the dataset, or you can open it directly from the terminal:

rerun mixer_on_off_new_1

Since this dataloader is included other SDK functionalities should work similar to loading a rerun file but pointing at the directory instead.