| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - lerobot |
| - pusht |
| - diffusion-policy |
| - robotics |
| - lance |
| - lerobot-lancedb |
| pretty_name: pusht-lerobot-lancedb (frames / JPEG) |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # pusht-lerobot-lancedb (frames / JPEG) |
|
|
| A [`lerobot-lancedb`](https://github.com/lancedb/lerobot-lancedb)-format Lance copy of |
| [`lerobot/pusht`](https://huggingface.co/datasets/lerobot/pusht). One row per frame; per-frame |
| JPEG bytes stored inline. |
|
|
| > **Not to be confused with** [`lance-format/lerobot-pusht-lance`](https://huggingface.co/datasets/lance-format/lerobot-pusht-lance), |
| > which uses a different three-table schema (`frames`/`episodes`/`videos`) and is **not loadable** |
| > with `lerobot-lancedb`. This repo is specifically the layout produced by |
| > `lerobot-convert-to-lance`. |
|
|
| ## Load |
|
|
| ```python |
| from lerobot_lancedb import LeRobotLanceDataset |
| |
| ds = LeRobotLanceDataset(repo_id="lance-format/pusht-lerobot-lancedb") |
| print(len(ds)) # 25_650 frames |
| print(ds[0]["observation.image"].shape) # torch.Size([3, 96, 96]) |
| ``` |
|
|
| Lance streams per-frame bytes via byte-range fetches from the Hub — no full-dataset download. |
|
|
| ## Repro |
|
|
| ```bash |
| pip install git+https://github.com/lancedb/lerobot-lancedb.git |
| lerobot-convert-to-lance \ |
| --repo-id=lerobot/pusht \ |
| --output=./pusht-lerobot-lancedb \ |
| --table-name=pusht-lerobot-lancedb \ |
| --jpeg-quality=95 |
| ``` |
|
|
| ## Layout |
|
|
| ``` |
| pusht-lerobot-lancedb/ |
| ├── meta/ # standard LeRobotDataset metadata sidecar |
| │ ├── info.json |
| │ ├── episodes.jsonl |
| │ ├── stats.json |
| │ └── tasks.jsonl |
| └── pusht-lerobot-lancedb.lance/ # single Lance table, one row per frame |
| ``` |
|
|
| Columns: `episode_index`, `frame_index`, `index`, `timestamp`, `task_index`, |
| `observation.state`, `action`, `observation.image` (JPEG bytes, lossy q=95). |
|
|
| Size: ~60 MB. Companion video-blob layout (bit-exact pixels, ~8 MB) at |
| [`lance-format/pusht-lerobot-lancedb-video`](https://huggingface.co/datasets/lance-format/pusht-lerobot-lancedb-video). |
|
|
