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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lance
- lancedb
---
# berkeley_autolab_ur5, stored in Lance
`lerobot/berkeley_autolab_ur5` (1000 episodes, 97,939 frames, 3 cameras) 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 LanceDBDataset
ds = LanceDBDataset("lance-format/berkeley_autolab_ur5-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/berkeley_autolab_ur5-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.
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