ahive/ledrone_diffusion_multitask
Robotics • 63.4M • Updated
Search is not available for this dataset
observation.state list | observation.environment_state list | action list | timestamp float32 0 13.3 | frame_index int64 0 399 | episode_index int64 0 899 | index int64 0 240k | task_index int64 0 2 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
ledrone_pybullet_multitask_state
A multi-task, goal-conditioned, state-based imitation dataset combining the three
ledrone tasks — takeoff + hover + circle — into one corpus for training a single
policy. State-only (no FPV video); 13-dim observation.state + 3-dim relative goal
observation.environment_state + 4-dim action. Each frame is tagged with its task.
The three tasks are unified by the relative goal (target − pos): a single
goal-conditioned policy reacts to how the goal moves (static for hover, ramping for
takeoff, orbiting for circle). Built from the DART-regenerated single-task datasets
(execute-noised / label-clean, slew-limited startup).
| Episodes | 900 (300 × 3 tasks) |
| Frames | 240,000 |
| Tasks | takeoff, hover, circle |
| State | 13-dim (pos, vel, attitude quat, body rates) |
| Format | LeRobot v3.0 |
Part of the ledrone project. Apache-2.0.
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