---
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:** [Yaak](https://www.yaak.ai/)
- **Paper:** [LeRobot goes to driving school](https://huggingface.co/blog/lerobot-goes-to-driving-school)
- **License:** apache-2.0

This is a release R2 (10K episodses) of [yaak-ai/L2D](https://huggingface.co/datasets/yaak-ai/L2D) in LeRobot Dataset V3 format. R3 release of 100K episode is now available [here](https://huggingface.co/datasets/yaak-ai/L2D)
 in LeRobotDataset V3 format.


## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "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:**

```bibtex
[More Information Needed]
```