Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "KIA Niro EV 2023",
"total_episodes": 100,
"total_frames": 28519,
"total_tasks": 1,
"total_videos": 700,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.front_left": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rear": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.map": {
"dtype": "video",
"shape": [
3,
360,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 360,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state.vehicle": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"speed",
"heading",
"heading_error",
"hp_loc_latitude",
"hp_loc_longitude",
"hp_loc_altitude",
"acceleration_x",
"acceleration_y"
]
}
},
"observation.state.waypoints": {
"dtype": "float32",
"shape": [
10,
2
],
"names": [
"way",
"points"
]
},
"observation.state.timestamp": {
"dtype": "int64",
"shape": [
1
],
"names": {
"axes": [
"unix_epoc_timestamp"
]
}
},
"task.policy": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"task.instructions": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"action.continuous": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"gas_pedal_normalized",
"brake_pedal_normalized",
"steering_angle_normalized"
]
}
},
"action.discrete": {
"dtype": "int32",
"shape": [
2
],
"names": {
"axes": [
"gear",
"turn_signal"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
@article{yaak2025l2d,
author = {Yaak & LeRobot team},
title ={LeRobot goes to driving school: World’s largest open-source self-driving dataset},
journal = {https://www.huggingface.com/blog/lerobot-goes-to-driving-school},
year = {2025},
}
@article{yaak2024si-02,
author = {Yaak team},
title ={Building spatial intelligence part - 2},
journal = {https://www.yaak.ai/blog/building-spatial-intelligence-part-2},
year = {2024},
}
@article{yaak2024si-01,
author = {Yaak team},
title ={Building spatial intelligence part - 1},
journal = {https://www.yaak.ai/blog/buildling-spatial-intelligence-part1},
year = {2024},
}
@article{yaak2023actiongpt,
author = {Yaak team},
title ={Next action prediction with GPTs},
journal = {https://www.yaak.ai/blog/next-action-prediction-with-gpts},
year = {2023},
}
@article{yaak2023novel,
author = {Yaak team},
title ={A novel test for autonomoy},
journal = {https://www.yaak.ai/blog/a-novel-test-for-autonomy},
year = {2023},
}