---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
pretty_name: lerobot-driver
---

## Lerobot goes to driving school

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

**Homepage:** https://www.yaak.ai/blog/a-novel-test-for-autonomy
- **Paper:** https://www.yaak.ai/blog/next-action-prediction-with-gpts
- **Visualization:** https://nutron-sandbox.yaak.ai
- **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": 10,
    "total_frames": 3880,
    "total_tasks": 1,
    "total_videos": 70,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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": [
                2,
                10
            ],
            "names": [
                "points",
                "way"
            ]
        },
        "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{yaak2023actiongpt,
    author = {Yaak Team},
    title ={Next action prediction with GPTs},
    journal = {https://www.yaak.ai/blog/next-action-prediction-with-gpts},
    year = {2023},
}
@article{yaak2024summarytokens,
    author = {Yaak Team},
    title ={Summary Tokens},
    journal = {TBA},
    year = {2024},
}
```