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: Yaak
- Paper: LeRobot goes to driving school
- License: apache-2.0
This is a release R2 (10K episodses) of yaak-ai/L2D in LeRobot Dataset V3 format. R3 release of 100K episode is now available here in LeRobotDataset V3 format.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "KIA Niro EV 2023",
"total_episodes": 10000,
"total_frames": 2298363,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:10000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"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.lanes": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.road": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.surface": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.max_speed": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.precipitation": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.conditions": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.lighting": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"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
},
"observation.images.left_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.front_left": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.right_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.left_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.rear": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.right_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.map": {
"dtype": "video",
"shape": [
3,
360,
640
],
"names": [
"channel",
"height",
"width"
]
}
}
}
Citation
BibTeX:
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