| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: [LeRobot, ledrone, uav, drone, sim, pybullet, multi-task, goal-conditioned, state-based, imitation-learning] |
| size_categories: |
| - 100K<n<1M |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # 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](https://github.com/ahive-org/ledrone) project. Apache-2.0. |
|
|
