| 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. | |