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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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- language_table |
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- openx |
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- google_robot |
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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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Language Table (LeRobot) — Embedding-Only Release |
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(DINOv3 + SigLIP2 image features; EmbeddingGemma task-text features) |
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This repository packages a re-encoded variant of [IPEC-COMMUNITY/bc_z_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/bc_z_lerobot) where raw videos are replaced by fixed-length image embeddings, and task strings are augmented with text embeddings. All indices, splits, and semantics remain consistent with the source dataset while storage and I/O are substantially lighter. To make the dataset practical to upload/download and stream from the Hub, we also consolidated tiny per-episode Parquet files into N large Parquet shards under a single data/ folder. The file meta/sharded_index.json preserves a precise mapping from each original episode (referenced by a normalized identifier of the form data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet) to its shard path and row range, so you keep original addressing without paying the small-file tax. |
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- Robot: google_robot |
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- Modalities kept: states, actions, timestamps, frame/episode indices, image embeddings, task-text embeddings |
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- Removed: |
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- observation.images.image |
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- License: apache-2.0 (inherits from source) |
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---------------------------------------------------------------- |
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Quick Stats |
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From meta/info.json and meta/task_text_embeddings_info.json: |
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- Episodes: 39,350 |
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- Frames: 5,471,693 |
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- Tasks (unique): 104 |
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- Chunks (original layout): 40 (chunks_size=1000) |
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- Shards (this release): 64 Parquet files under data/ (see meta/sharded_index.json) |
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- FPS: 10 |
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- Image embeddings (per frame): |
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- observation.images.image_dinov3 → float32 [1024] (DINOv3 ViT-L/16 CLS) |
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- observation.images.image_siglip2 → float32 [768] (SigLIP2-base) |
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- Task-text embeddings (per unique task): |
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- embedding → float32 [768] from google/embeddinggemma-300m |
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- Count: 104 rows (one per task) |
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Note: This is an embedding-only package. The original pixel arrays listed under “Removed” are dropped. |
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---------------------------------------------------------------- |
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<details> |
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<summary><b>Contents</b></summary> |
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<pre> |
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. |
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|-- meta/ |
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| |-- info.json |
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| |-- sharded_index.json |
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| |-- tasks.jsonl |
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| |-- episodes.jsonl |
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| `-- task_text_embeddings_info.json |
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|-- data/ |
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| |-- shard-00000-of-000NN.parquet |
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| |-- shard-00001-of-000NN.parquet |
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| |-- ... |
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| `-- task_text_embeddings.parquet |
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`-- README.md |
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</pre> |
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</details> |
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---------------------------------------------------------------- |
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How This Was Generated (Reproducible Pipeline) |
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1) Episode → Image Embeddings (drop pixels) |
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convert_lerobot_to_embeddings_mono.py (GPU-accelerated preprocessing). |
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Adds: |
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- observation.images.image_dinov3 (float32[1024]) |
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- observation.images.image_siglip2 (float32[768]) |
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Removes: |
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- observation.images.image |
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2) Task-Text Embeddings (one row per unique task) |
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build_task_text_embeddings.py with SentenceTransformer("google/embeddinggemma-300m") → data/task_text_embeddings.parquet + meta/task_text_embeddings_info.json. |
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3) Data Consolidation (this release) |
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All per-episode Parquets were consolidated into N large Parquet shards in one data/ folder. |
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- The index meta/sharded_index.json records, for each episode, its normalized source identifier data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet, the destination shard path, and the (row_offset, num_rows) range inside that shard. |
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- This preserves original addressing while making Hub sync/clone/stream far faster and more reliable. |
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---------------------------------------------------------------- |
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Metadata (Excerpts) |
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meta/task_text_embeddings_info.json |
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~~~json |
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{ |
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"model": "google/embeddinggemma-300m", |
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"dimension": 768, |
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"normalized": true, |
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"count": 104, |
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"file": "task_text_embeddings.parquet" |
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} |
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~~~ |
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meta/info.json (embedding-only + shards) |
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~~~json |
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{ |
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"codebase_version": "v2.0-embeddings-sharded", |
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"robot_type": "google_robot", |
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"total_episodes": 39350, |
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"total_frames": 5471693, |
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"total_tasks": 104, |
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"total_videos": 39350, |
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"total_chunks": 40, |
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"chunks_size": 1000, |
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"fps": 10, |
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"splits": { |
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"train": "0:39350" |
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}, |
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"data_path": "data/shard-{shard_id:05d}-of-{num_shards:05d}.parquet", |
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"features": { |
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"observation.state": { |
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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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"motors": [ |
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"x", |
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"y", |
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"z", |
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"roll", |
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"pitch", |
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"yaw", |
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"pad", |
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"gripper" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": { |
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"motors": [ |
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"x", |
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"y", |
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"z", |
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"roll", |
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"pitch", |
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"yaw", |
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"gripper" |
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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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"observation.images.image_dinov3": { |
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"dtype": "float32", |
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"shape": [ |
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1024 |
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], |
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"names": null |
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}, |
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"observation.images.image_siglip2": { |
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"dtype": "float32", |
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"shape": [ |
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768 |
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], |
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"names": null |
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} |
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}, |
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"video_keys": [ |
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"observation.images.image" |
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], |
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"num_shards": 64, |
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"index_path": "meta/sharded_index.json" |
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} |
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~~~ |
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---------------------------------------------------------------- |
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Environment & Dependencies |
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Python ≥ 3.9 • PyTorch ≥ 2.1 • transformers • sentence-transformers • pyarrow • tqdm • decord (and optionally av) |
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---------------------------------------------------------------- |
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Provenance, License, and Citation |
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- Source dataset: [IPEC-COMMUNITY/bc_z_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/bc_z_lerobot) |
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- License: apache-2.0 (inherits from the source) |
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- Encoders to cite: |
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- facebook/dinov3-vitl16-pretrain-lvd1689m |
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- google/siglip2-base-patch16-384 |
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- google/embeddinggemma-300m |
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---------------------------------------------------------------- |
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Changelog |
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- v2.0-embeddings-sharded — Replaced video tensors with DINOv3 + SigLIP2 features; added EmbeddingGemma task-text embeddings; consolidated per-episode Parquets into N shards with a repo-local index; preserved original indexing/splits via normalized episode identifiers. |
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