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Datasets:
yaak-ai
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L2D

Tasks:
Robotics
Modalities:
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LeRobot
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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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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+
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+ ## Dataset Structure
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+
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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": 10000,
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+ "total_frames": 2391372,
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+ "total_tasks": 1,
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+ "total_videos": 70000,
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+ "total_chunks": 10,
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+ "chunks_size": 1000,
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+ "fps": 10,
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+ "splits": {
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+ "train": "0:10000"
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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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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```