README.md

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

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "KIA Niro EV 2023",
  "total_episodes": 100000,
  "total_frames": 19042712,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 500,
  "fps": 10,
  "splits": {
    "train": "0:100000"
  },
  "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:

@article{yaak2025l2d,
    author = {Yaak & LeRobot team},
    title ={LeRobot goes to driving school: World’s largest open-source self-driving dataset},
    journal = {https://www.huggingface.com/blog/lerobot-goes-to-driving-school},
    year = {2025},
}
@article{yaak2024si-02,
    author = {Yaak team},
    title ={Building spatial intelligence part - 2},
    journal = {https://www.yaak.ai/blog/building-spatial-intelligence-part-2},
    year = {2024},
}
@article{yaak2024si-01,
    author = {Yaak team},
    title ={Building spatial intelligence part - 1},
    journal = {https://www.yaak.ai/blog/buildling-spatial-intelligence-part1},
    year = {2024},
}
@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{yaak2023novel,
    author = {Yaak team},
    title ={A novel test for autonomoy},
    journal = {https://www.yaak.ai/blog/a-novel-test-for-autonomy},
    year = {2023},
}