README.md

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lance
- lancedb
---

# aloha_static_cups_open, stored in Lance

`lerobot/aloha_static_cups_open` converted to the Lance layout that LeRobot's `LanceDBDataset` reads natively. Same `meta/` sidecar as the original, tabular features in `frames.lance`, encoded videos in a `videos.lance` blob v2 column.

```python
from lerobot.datasets import LeRobotDataset  # not needed, shown for contrast
from lerobot.datasets import LanceDBDataset

ds = LanceDBDataset("lance-format/aloha_static_cups_open-lance")  # streams tables from the Hub, only meta/ is downloaded
item = ds[0]
```

Or just point training at it. The dataset factory detects the format automatically:

```bash
lerobot-train --dataset.repo_id=lance-format/aloha_static_cups_open-lance ...
```

Requires `lancedb>=0.35.0b2` (`pip install --pre --extra-index-url https://pypi.fury.io/lancedb/ lancedb`) and the `lance-dataloader` branch of LeRobot until the upstream PR lands.