Buckets:
| <meta charset="utf-8" /><meta name="hf:doc:metadata" content="{"title":"Code Example: Datasets, in practice","local":"code-example-datasets-in-practice","sections":[{"title":"Streaming Large Datasets","local":"streaming-large-datasets","sections":[],"depth":3},{"title":"Training Integration","local":"training-integration","sections":[{"title":"PyTorch DataLoader","local":"pytorch-dataloader","sections":[],"depth":3}],"depth":2},{"title":"Why This Matters","local":"why-this-matters","sections":[],"depth":2},{"title":"Section Quiz","local":"section-quiz","sections":[{"title":"1. What makes LeRobot different from traditional robotics libraries?","local":"1-what-makes-lerobot-different-from-traditional-robotics-libraries","sections":[],"depth":3},{"title":"2. Which of the following is NOT a key component of LeRobot’s approach?","local":"2-which-of-the-following-is-not-a-key-component-of-lerobots-approach","sections":[],"depth":3},{"title":"3. What is the main advantage of LeRobot’s optimized inference stack?","local":"3-what-is-the-main-advantage-of-lerobots-optimized-inference-stack","sections":[],"depth":3},{"title":"4. Which types of robotic platforms does LeRobot support?","local":"4-which-types-of-robotic-platforms-does-lerobot-support","sections":[],"depth":3},{"title":"5. What does “end-to-end integration with the robotics stack” mean in the context of LeRobot?","local":"5-what-does-end-to-end-integration-with-the-robotics-stack-mean-in-the-context-of-lerobot","sections":[],"depth":3},{"title":"6. What is the primary purpose of the delta_timestamps parameter in LeRobotDataset?","local":"6-what-is-the-primary-purpose-of-the-deltatimestamps-parameter-in-lerobotdataset","sections":[],"depth":3},{"title":"7. Which of the following best describes the three main components of LeRobotDataset?","local":"7-which-of-the-following-best-describes-the-three-main-components-of-lerobotdataset","sections":[],"depth":3},{"title":"8. What happens when you use StreamingLeRobotDataset instead of LeRobotDataset ?","local":"8-what-happens-when-you-use-streaminglerobotdataset-instead-of-lerobotdataset-","sections":[],"depth":3},{"title":"9. In the context of robot learning, what does “temporal windowing” refer to?","local":"9-in-the-context-of-robot-learning-what-does-temporal-windowing-refer-to","sections":[],"depth":3},{"title":"10. What is the main advantage of LeRobotDataset’s approach to storing video data?","local":"10-what-is-the-main-advantage-of-lerobotdatasets-approach-to-storing-video-data","sections":[],"depth":3},{"title":"11. Which statement about LeRobotDataset’s compatibility is correct?","local":"11-which-statement-about-lerobotdatasets-compatibility-is-correct","sections":[],"depth":3}],"depth":2},{"title":"References","local":"references","sections":[],"depth":2}],"depth":1}"> | |
| <link href="/docs/robotics-course/pr_27/en/_app/immutable/assets/0.e3b0c442.css" rel="modulepreload"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/entry/start.6a087fe8.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/scheduler.4048030c.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/singletons.6333d672.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/index.dd3f5310.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/paths.cd6cdab2.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/entry/app.f7ddcd05.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/preload-helper.225f7c4d.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/index.30ed9803.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/nodes/0.56abb042.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/each.e59479a4.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/nodes/7.72f9f797.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/MermaidChart.svelte_svelte_type_style_lang.4d36332b.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/CodeBlock.12b95b16.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/Question.99129fcf.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/stores.0a12db33.js"> | |
| <link rel="modulepreload" href="/docs/robotics-course/pr_27/en/_app/immutable/chunks/HfOption.ebe1243c.js"><!-- HEAD_svelte-u9bgzb_START --><meta name="hf:doc:metadata" content="{"title":"Code Example: Datasets, in practice","local":"code-example-datasets-in-practice","sections":[{"title":"Streaming Large Datasets","local":"streaming-large-datasets","sections":[],"depth":3},{"title":"Training Integration","local":"training-integration","sections":[{"title":"PyTorch DataLoader","local":"pytorch-dataloader","sections":[],"depth":3}],"depth":2},{"title":"Why This Matters","local":"why-this-matters","sections":[],"depth":2},{"title":"Section Quiz","local":"section-quiz","sections":[{"title":"1. What makes LeRobot different from traditional robotics libraries?","local":"1-what-makes-lerobot-different-from-traditional-robotics-libraries","sections":[],"depth":3},{"title":"2. Which of the following is NOT a key component of LeRobot’s approach?","local":"2-which-of-the-following-is-not-a-key-component-of-lerobots-approach","sections":[],"depth":3},{"title":"3. What is the main advantage of LeRobot’s optimized inference stack?","local":"3-what-is-the-main-advantage-of-lerobots-optimized-inference-stack","sections":[],"depth":3},{"title":"4. Which types of robotic platforms does LeRobot support?","local":"4-which-types-of-robotic-platforms-does-lerobot-support","sections":[],"depth":3},{"title":"5. What does “end-to-end integration with the robotics stack” mean in the context of LeRobot?","local":"5-what-does-end-to-end-integration-with-the-robotics-stack-mean-in-the-context-of-lerobot","sections":[],"depth":3},{"title":"6. What is the primary purpose of the delta_timestamps parameter in LeRobotDataset?","local":"6-what-is-the-primary-purpose-of-the-deltatimestamps-parameter-in-lerobotdataset","sections":[],"depth":3},{"title":"7. Which of the following best describes the three main components of LeRobotDataset?","local":"7-which-of-the-following-best-describes-the-three-main-components-of-lerobotdataset","sections":[],"depth":3},{"title":"8. What happens when you use StreamingLeRobotDataset instead of LeRobotDataset ?","local":"8-what-happens-when-you-use-streaminglerobotdataset-instead-of-lerobotdataset-","sections":[],"depth":3},{"title":"9. In the context of robot learning, what does “temporal windowing” refer to?","local":"9-in-the-context-of-robot-learning-what-does-temporal-windowing-refer-to","sections":[],"depth":3},{"title":"10. What is the main advantage of LeRobotDataset’s approach to storing video data?","local":"10-what-is-the-main-advantage-of-lerobotdatasets-approach-to-storing-video-data","sections":[],"depth":3},{"title":"11. Which statement about LeRobotDataset’s compatibility is correct?","local":"11-which-statement-about-lerobotdatasets-compatibility-is-correct","sections":[],"depth":3}],"depth":2},{"title":"References","local":"references","sections":[],"depth":2}],"depth":1}"><!-- HEAD_svelte-u9bgzb_END --> <p></p> <div class="items-center shrink-0 min-w-[100px] max-sm:min-w-[50px] justify-end ml-auto flex" style="float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"><div class="inline-flex rounded-md max-sm:rounded-sm"><button class="inline-flex items-center gap-1 h-7 max-sm:h-7 px-2 max-sm:px-1.5 text-sm font-medium text-gray-800 border border-r-0 rounded-l-md max-sm:rounded-l-sm border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-live="polite"><span class="inline-flex items-center justify-center rounded-md p-0.5 max-sm:p-0 hover:text-gray-800 dark:hover:text-gray-200"><svg class="sm:size-3.5 size-3" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg></span> <span>Copy page</span></button> <button class="inline-flex items-center justify-center w-6 max-sm:w-5 h-7 max-sm:h-7 disabled:pointer-events-none text-sm text-gray-500 hover:text-gray-700 dark:hover:text-white rounded-r-md max-sm:rounded-r-sm border border-l transition border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-haspopup="menu" aria-expanded="false" aria-label="Open copy menu"><svg class="transition-transform text-gray-400 overflow-visible sm:size-3.5 size-3 rotate-0" width="1em" height="1em" viewBox="0 0 12 7" fill="none" xmlns="http://www.w3.org/2000/svg"><path d="M1 1L6 6L11 1" stroke="currentColor"></path></svg></button></div> </div> <h1 class="relative group"><a id="code-example-datasets-in-practice" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#code-example-datasets-in-practice"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Code Example: Datasets, in practice</span></h1> <p data-svelte-h="svelte-smct06">This section shows you how to work with robotics datasets from Hugging Face using the LeRobotDataset class. We’ll start with simple examples and gradually add complexity, so you can copy and adapt the approach that best fits your project.</p> <p data-svelte-h="svelte-1bbrj1q">The key thing to understand is that any dataset on the Hub that follows LeRobot’s format (with tabular data, visual data, and metadata included) can be loaded with just one line of code.</p> <p data-svelte-h="svelte-kt18oi">When working with robotics data, you often need to look at multiple time steps at once rather than single data points. Why? Most robot learning algorithms need to see how things change over time. For example, to pick up an object, a robot might need to see what happened in the last few moments to understand the current situation better. Similarly, many algorithms work better when they can plan several actions ahead rather than just deciding what to do right now.</p> <p data-svelte-h="svelte-1ub581g">LeRobotDataset makes this easy with “temporal windowing.” You simply declare which time offsets you want (i.e. current frame plus the two previous ones), and it automatically handles the complexity of getting those frames, even when some might be missing at the beginning or end of an episode.</p> <p data-svelte-h="svelte-9hadu7"><img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobotdataset-v3/streaming-multiple-frames.png" alt="streaming-multiple-frames"></p> <blockquote class="tip" data-svelte-h="svelte-1j6ce3e"><p><strong>Temporal Windows Explained:</strong></p> <ul><li><strong>Observation history</strong>: <code>[-0.2, -0.1, 0.0]</code> gives you 200ms, 100ms, and current observations</li> <li><strong>Action sequences</strong>: <code>[0.0, 0.1, 0.2]</code> provides current and next 2 actions (100ms apart)</li> <li><strong>Automatic padding</strong>: Missing frames at episode boundaries are handled automatically. The datasets always returns the requested number of frames, and it applies padding where necessary.</li> <li><strong>Mask included</strong>: Know which frames are real vs. padded for proper training</li></ul></blockquote> <p data-svelte-h="svelte-it421t">Conveniently, by using LeRobotDataset with a PyTorch <code>DataLoader</code> one can automatically collate the individual sample dictionaries from the dataset into a single dictionary of batched tensors for downstream training or inference. LeRobotDataset also natively supports streaming mode for datasets. Users can stream data of a large dataset hosted on the Hugging Face Hub, with a one-line change in their implementation. Streaming datasets supports high-performance batch processing (ca. 80-100 it/s, varying on connectivity) and high levels of frames randomization, key features for practical BC algorithms which otherwise may be slow or operating on highly non-i.i.d. data. This feature is designed to improve on accessibility so that large datasets can be processed by users without requiring large amounts of memory and storage.</p> <p data-svelte-h="svelte-12j5tg">Here are different ways to set up temporal windows depending on your use case. Skim the options and pick one to start—switching later is just a change to the dictionary.</p> <div class="flex space-x-2 items-center my-1.5 mr-8 h-7 !pl-0 -mx-3 md:mx-0"><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd border-gray-800 bg-black dark:bg-gray-700 text-white">basic-bc </div><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd text-gray-500 cursor-pointer opacity-90 hover:text-gray-700 dark:hover:text-gray-200 hover:shadow-sm">history-bc </div><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd text-gray-500 cursor-pointer opacity-90 hover:text-gray-700 dark:hover:text-gray-200 hover:shadow-sm">action-chunking </div></div> <div class="language-select"><p data-svelte-h="svelte-1fjvi9j"><strong>Basic Behavioral Cloning</strong> (learn current action from current observation):</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class="language-python "><!-- HTML_TAG_START --><span class="hljs-comment"># Simple: current observation → current action</span> | |
| delta_timestamps = { | |
| <span class="hljs-string">"observation.images.up"</span>: [<span class="hljs-number">0.0</span>], <span class="hljs-comment"># Just current frame</span> | |
| <span class="hljs-string">"action"</span>: [<span class="hljs-number">0.0</span>] <span class="hljs-comment"># Just current action</span> | |
| } | |
| dataset = LeRobotDataset( | |
| <span class="hljs-string">"lerobot/svla_so101_pickplace"</span>, | |
| delta_timestamps=delta_timestamps | |
| )<!-- HTML_TAG_END --></pre></div> </div> <h3 class="relative group"><a id="streaming-large-datasets" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#streaming-large-datasets"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Streaming Large Datasets</span></h3> <blockquote class="tip" data-svelte-h="svelte-2bao43"><p><strong>When to use streaming:</strong></p> <ul><li><strong>Dataset > available storage</strong> - Stream datasets that don’t fit on your disk</li> <li><strong>Experimentation</strong> - Quickly try different datasets without downloading</li> <li><strong>Cloud training</strong> - Reduce startup time by streaming from Hugging Face Hub</li> <li><strong>Network available</strong> - Requires stable internet connection during training</li></ul> <p><strong>Performance:</strong> Streaming achieves 80-100 it/s with good connectivity! That is (on average) comparable with locally-stored datasets, factoring out initialization overhead.</p></blockquote> <div class="flex space-x-2 items-center my-1.5 mr-8 h-7 !pl-0 -mx-3 md:mx-0"><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd border-gray-800 bg-black dark:bg-gray-700 text-white">download </div><div class="flex items-center border rounded-lg px-1.5 py-1 leading-none select-none text-smd text-gray-500 cursor-pointer opacity-90 hover:text-gray-700 dark:hover:text-gray-200 hover:shadow-sm">streaming </div></div> <div class="language-select"><p data-svelte-h="svelte-15sgzp4"><strong>Download Dataset</strong> (faster training, requires storage):</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class="language-python "><!-- HTML_TAG_START --><span class="hljs-keyword">from</span> lerobot.datasets.lerobot_dataset <span class="hljs-keyword">import</span> LeRobotDataset | |
| <span class="hljs-comment"># Downloads dataset to local cache</span> | |
| dataset = LeRobotDataset(<span class="hljs-string">"lerobot/svla_so101_pickplace"</span>) | |
| <span class="hljs-comment"># Fastest access after download</span> | |
| sample = dataset[<span class="hljs-number">100</span>]<!-- HTML_TAG_END --></pre></div> </div> <h2 class="relative group"><a id="training-integration" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#training-integration"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Training Integration</span></h2> <p data-svelte-h="svelte-dsjor9">You can easily integrate regular and streaming datasets with torch data loaders. This makes integrating any LeRobotDataset with your own (<code>torch</code>) training loop rather convenient. Because we fetch all frames from the datasets as a tensor, wrapping iterating over a dataset with training is particularly straightforward.</p> <h3 class="relative group"><a id="pytorch-dataloader" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#pytorch-dataloader"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>PyTorch DataLoader</span></h3> <p data-svelte-h="svelte-19wd5lh">You can easily integrate regular and streaming datasets with torch data loaders. This makes integrating any LeRobotDataset with your own (<code>torch</code>) training loop rather convenient. Because we fetch all frames from the datasets as a tensor, wrapping iterating over a dataset with training is particularly straightforward.</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class="language-python "><!-- HTML_TAG_START --><span class="hljs-keyword">import</span> torch | |
| <span class="hljs-keyword">from</span> torch.utils.data <span class="hljs-keyword">import</span> DataLoader | |
| <span class="hljs-comment"># Create DataLoader for training</span> | |
| dataloader = DataLoader( | |
| dataset, | |
| batch_size=<span class="hljs-number">16</span>, | |
| shuffle=<span class="hljs-literal">True</span>, | |
| num_workers=<span class="hljs-number">4</span> | |
| ) | |
| <span class="hljs-comment"># Training loop</span> | |
| device = torch.device(<span class="hljs-string">"cuda"</span> <span class="hljs-keyword">if</span> torch.cuda.is_available() <span class="hljs-keyword">else</span> <span class="hljs-string">"cpu"</span>) | |
| <span class="hljs-keyword">for</span> batch <span class="hljs-keyword">in</span> dataloader: | |
| <span class="hljs-comment"># Move to device</span> | |
| observations = batch[<span class="hljs-string">"observation.state"</span>].to(device) | |
| actions = batch[<span class="hljs-string">"action"</span>].to(device) | |
| images = batch[<span class="hljs-string">"observation.images.up"</span>].to(device) | |
| <span class="hljs-comment"># Your model training here</span> | |
| <span class="hljs-comment"># loss = model(observations, images, actions)</span> | |
| <span class="hljs-comment"># loss.backward()</span> | |
| <span class="hljs-comment"># optimizer.step()</span><!-- HTML_TAG_END --></pre></div> <h2 class="relative group"><a id="why-this-matters" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#why-this-matters"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Why This Matters</span></h2> <p data-svelte-h="svelte-13g30ke">This simple API hides significant complexity:</p> <ul data-svelte-h="svelte-grkgdm"><li>✅ <strong>Multi-modal synchronization</strong> - Images and sensors perfectly aligned</li> <li>✅ <strong>Efficient storage</strong> - Compressed videos, memory-mapped arrays</li> <li>✅ <strong>Temporal handling</strong> - Easy access to observation/action sequences</li> <li>✅ <strong>Scalability</strong> - Same code works for small and massive datasets</li></ul> <p data-svelte-h="svelte-b73vro">Compare this to traditional robotics data handling, which often requires:</p> <ul data-svelte-h="svelte-11xetiz"><li>Custom parsers for each data format</li> <li>Manual synchronization across modalities</li> <li>Complex buffering for temporal windows</li> <li>Platform-specific loading code</li></ul> <p data-svelte-h="svelte-1dusnnt">LeRobotDataset <strong>standardizes and simplifies</strong> all of this!</p> <h2 class="relative group"><a id="section-quiz" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#section-quiz"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Section Quiz</span></h2> <p data-svelte-h="svelte-1drt45h">Test your understanding of LeRobot and its role in robot learning:</p> <h3 class="relative group"><a id="1-what-makes-lerobot-different-from-traditional-robotics-libraries" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#1-what-makes-lerobot-different-from-traditional-robotics-libraries"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>1. What makes LeRobot different from traditional robotics libraries?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->It only works with simulation environments.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->It provides end-to-end integration across the entire robotics stack with state-of-the-art learning algorithms.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->It requires expensive industrial robots to function.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->It only supports classical control methods.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="2-which-of-the-following-is-not-a-key-component-of-lerobots-approach" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#2-which-of-the-following-is-not-a-key-component-of-lerobots-approach"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>2. Which of the following is NOT a key component of LeRobot’s approach?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->Unified low-level robot configuration handling<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->Native robotics dataset format (LeRobotDataset)<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->Requiring expert knowledge for each new robot platform<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->State-of-the-art learning algorithms with PyTorch implementations<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="3-what-is-the-main-advantage-of-lerobots-optimized-inference-stack" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#3-what-is-the-main-advantage-of-lerobots-optimized-inference-stack"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>3. What is the main advantage of LeRobot’s optimized inference stack?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->It makes training faster on GPUs.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->It reduces the memory requirements for storing datasets.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->It decouples action planning from action execution for better real-time performance.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->It automatically generates training data from robot interactions.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="4-which-types-of-robotic-platforms-does-lerobot-support" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#4-which-types-of-robotic-platforms-does-lerobot-support"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>4. Which types of robotic platforms does LeRobot support?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->Only manipulation robots like robotic arms.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->Manipulation, locomotion, and whole-body control platforms.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->Only robots that cost more than $10,000.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->Only robots manufactured by specific companies.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="5-what-does-end-to-end-integration-with-the-robotics-stack-mean-in-the-context-of-lerobot" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#5-what-does-end-to-end-integration-with-the-robotics-stack-mean-in-the-context-of-lerobot"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>5. What does “end-to-end integration with the robotics stack” mean in the context of LeRobot?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->It only handles high-level planning, not low-level control.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->It covers everything from low-level hardware control to high-level learning algorithms.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->It requires separate tools for data handling and model training.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->It only works with specific operating systems.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="6-what-is-the-primary-purpose-of-the-deltatimestamps-parameter-in-lerobotdataset" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#6-what-is-the-primary-purpose-of-the-deltatimestamps-parameter-in-lerobotdataset"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>6. What is the primary purpose of the delta_timestamps parameter in LeRobotDataset?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->It sets the frame rate for video recording.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->It defines temporal windows to access observation histories and action sequences.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->It synchronizes data across different robots.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->It compresses video data for storage efficiency.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="7-which-of-the-following-best-describes-the-three-main-components-of-lerobotdataset" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#7-which-of-the-following-best-describes-the-three-main-components-of-lerobotdataset"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>7. Which of the following best describes the three main components of LeRobotDataset?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->Images, Actions, and Rewards<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->Tabular Data, Visual Data, and Metadata<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->Training, Validation, and Test sets<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->Simulation, Real Robot, and Hybrid data<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="8-what-happens-when-you-use-streaminglerobotdataset-instead-of-lerobotdataset-" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#8-what-happens-when-you-use-streaminglerobotdataset-instead-of-lerobotdataset-"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>8. What happens when you use StreamingLeRobotDataset instead of LeRobotDataset ?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->The data is automatically augmented for better training.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->The dataset is downloaded faster to your local machine.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->Data is streamed from the Hugging Face Hub without downloading, saving storage space.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->The dataset is automatically split into train/validation sets.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="9-in-the-context-of-robot-learning-what-does-temporal-windowing-refer-to" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#9-in-the-context-of-robot-learning-what-does-temporal-windowing-refer-to"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>9. In the context of robot learning, what does “temporal windowing” refer to?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->The time it takes to train a robot learning model.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->Accessing multiple time steps of observations and actions around a given frame.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->The frequency at which robot sensors collect data.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->The duration of each robot episode or trajectory.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="10-what-is-the-main-advantage-of-lerobotdatasets-approach-to-storing-video-data" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#10-what-is-the-main-advantage-of-lerobotdatasets-approach-to-storing-video-data"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>10. What is the main advantage of LeRobotDataset’s approach to storing video data?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->Videos are stored in the highest possible quality.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->Each frame is stored as a separate file for easy access.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->Multiple episodes are concatenated into larger MP4 files to reduce file system stress.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->Videos are automatically compressed using AI algorithms.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h3 class="relative group"><a id="11-which-statement-about-lerobotdatasets-compatibility-is-correct" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#11-which-statement-about-lerobotdatasets-compatibility-is-correct"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>11. Which statement about LeRobotDataset’s compatibility is correct?</span></h3> <div><form><label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="0"> <!-- HTML_TAG_START -->It only works with specific robot brands like SO-100.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="1"> <!-- HTML_TAG_START -->It requires custom code for each new robot platform.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="2"> <!-- HTML_TAG_START -->It integrates seamlessly with PyTorch DataLoader and Hugging Face ecosystems.<!-- HTML_TAG_END --></label> <label class="block"><input autocomplete="off" class="form-input -mt-1.5 mr-2" name="choice" type="checkbox" value="3"> <!-- HTML_TAG_START -->It only supports simulation data, not real robot data.<!-- HTML_TAG_END --></label> <div class="flex flex-row items-center mt-3"><button class="btn px-4 mr-4" type="submit" disabled>Submit</button> </div></form></div> <h2 class="relative group"><a id="references" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#references"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>References</span></h2> <p data-svelte-h="svelte-12jfyok">For a full list of references, check out the <a href="https://huggingface.co/spaces/lerobot/robot-learning-tutorial" rel="nofollow">tutorial</a>.</p> <ul data-svelte-h="svelte-1bxyi0q"><li><p><strong>Diffusion Policy: Visuomotor Policy Learning via Action Diffusion</strong> (2024)<br> | |
| Cheng Chi et al.<br> | |
| This paper introduces diffusion models for robot policy learning and discusses how temporal windowing and action chunking enable smooth visuomotor control.<br> <a href="https://huggingface.co/papers/2303.04137" rel="nofollow">arXiv:2303.04137</a></p></li> <li><p><strong>RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control</strong> (2023)<br> | |
| Anthony Brohan et al.<br> | |
| Demonstrates how vision-language models can be fine-tuned for robotic control, including discussion of temporal context windows and action prediction horizons.<br> <a href="https://huggingface.co/papers/2307.15818" rel="nofollow">arXiv:2307.15818</a></p></li></ul> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/huggingface/robotics-course/blob/main/units/en/unit1/4.mdx" target="_blank"><svg class="mr-1" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M31,16l-7,7l-1.41-1.41L28.17,16l-5.58-5.59L24,9l7,7z"></path><path d="M1,16l7-7l1.41,1.41L3.83,16l5.58,5.59L8,23l-7-7z"></path><path d="M12.419,25.484L17.639,6.552l1.932,0.518L14.351,26.002z"></path></svg> <span data-svelte-h="svelte-zjs2n5"><span class="underline">Update</span> on GitHub</span></a> <p></p> | |
| <script> | |
| { | |
| __sveltekit_157nhjv = { | |
| assets: "/docs/robotics-course/pr_27/en", | |
| base: "/docs/robotics-course/pr_27/en", | |
| env: {} | |
| }; | |
| const element = document.currentScript.parentElement; | |
| const data = [null,null]; | |
| Promise.all([ | |
| import("/docs/robotics-course/pr_27/en/_app/immutable/entry/start.6a087fe8.js"), | |
| import("/docs/robotics-course/pr_27/en/_app/immutable/entry/app.f7ddcd05.js") | |
| ]).then(([kit, app]) => { | |
| kit.start(app, element, { | |
| node_ids: [0, 7], | |
| data, | |
| form: null, | |
| error: null | |
| }); | |
| }); | |
| } | |
| </script> | |
Xet Storage Details
- Size:
- 60.1 kB
- Xet hash:
- 931410efede94a1aa181170c204dbce6ade024ab56823fc861f168ce052a89a9
·
Xet efficiently stores files, intelligently splitting them into unique chunks and accelerating uploads and downloads. More info.