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