--- license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description - **Homepage:** [More Information Needed] - **Paper:** [More Information Needed] - **License:** apache-2.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "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:** ```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}, } ```