Datasets Overview

Overview of available datasets in LeRobot

LeRobot provides a comprehensive dataset ecosystem for robot learning. Datasets are stored in a standardized format compatible with the Hugging Face Hub, using Parquet files for tabular data and MP4 files for video observations.

Dataset Format

LeRobotDataset v3.0 uses a file-based structure optimized for efficient storage and loading:

my-dataset/
├── data/
│   ├── chunk-000/
│   │   ├── file-000.parquet
│   │   ├── file-001.parquet
│   │   └── ...
│   ├── chunk-001/
│   │   └── ...
│   └── ...
├── meta/
│   ├── info.json              # Dataset metadata
│   ├── stats.json             # Statistics for normalization
│   ├── tasks.parquet          # Task descriptions
│   ├── subtasks.parquet       # (Optional) Subtask annotations
│   └── episodes/
│       ├── chunk-000/
│       │   ├── file-000.parquet
│       │   └── ...
│       └── ...
└── videos/
    ├── observation.images.top/
    │   ├── chunk-000/
    │   │   ├── file-000.mp4
    │   │   └── ...
    │   └── ...
    └── ...

Key Features

Chunked Storage

Data is organized into chunks for better performance and Hub compatibility. Episodes are consolidated into files based on configurable size limits:

• Data files: Default max 100 MB per file
• Video files: Default max 200 MB per file
• Chunks: Max 1000 files per chunk directory

Video Storage

Visual observations are stored as MP4 videos using efficient codecs:

• Default codec: libsvtav1 (AV1) for best compression
• Hardware acceleration: Auto-detection of hardware encoders (VideoToolbox, NVENC, VAAPI)
• Multiple episodes per file: Episodes are concatenated to reduce file count

Metadata

info.json

Contains dataset-level information:

{
  "codebase_version": "v3.0",
  "fps": 30,
  "robot_type": "aloha",
  "total_episodes": 100,
  "total_frames": 15000,
  "total_tasks": 5,
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [14],
      "names": ["joint_1", "joint_2", ...]
    },
    "observation.images.top": {
      "dtype": "video",
      "shape": [3, 480, 640],
      "info": {
        "video.codec": "h264",
        "video.fps": 30
      }
    },
    "action": {
      "dtype": "float32",
      "shape": [14]
    }
  }
}

stats.json

Per-feature statistics for normalization:

{
  "observation.state": {
    "mean": [0.1, 0.2, ...],
    "std": [0.5, 0.3, ...],
    "min": [-1.0, -0.5, ...],
    "max": [1.0, 0.8, ...]
  },
  "action": {
    "mean": [0.0, 0.0, ...],
    "std": [0.2, 0.15, ...]
  }
}

Available Datasets

Browse available datasets on the Hugging Face Hub:

from huggingface_hub import list_datasets

# Find LeRobot datasets
datasets = list_datasets(author="lerobot", search="robot")
for ds in datasets:
    print(ds.id)

Popular datasets include:

• lerobot/pusht - 2D pushing task (simplest, great for testing)
• lerobot/aloha_sim_insertion_human - Simulated peg insertion
• lerobot/aloha_mobile_cabinet - Real-world cabinet opening
• lerobot/xarm_lift_medium - Object lifting with xArm

Loading Datasets

Basic usage:

from lerobot.datasets.lerobot_dataset import LeRobotDataset

# Load from Hugging Face Hub
dataset = LeRobotDataset("lerobot/pusht")

print(f"Episodes: {dataset.num_episodes}")
print(f"Frames: {dataset.num_frames}")
print(f"FPS: {dataset.fps}")
print(f"Features: {list(dataset.features.keys())}")

# Access a sample
sample = dataset[0]
print(sample.keys())

Dataset Statistics

Datasets include pre-computed statistics for normalization:

# Access statistics
state_stats = dataset.meta.stats["observation.state"]
print(f"State mean: {state_stats['mean']}")
print(f"State std: {state_stats['std']}")

# Use in normalization
import torch

state = sample["observation.state"]
mean = torch.tensor(state_stats["mean"])
std = torch.tensor(state_stats["std"])
normalized_state = (state - mean) / std

Dataset Properties

# Metadata access
print(f"Robot type: {dataset.meta.robot_type}")
print(f"Camera keys: {dataset.meta.camera_keys}")
print(f"Video keys: {dataset.meta.video_keys}")
print(f"Image keys: {dataset.meta.image_keys}")
print(f"Feature shapes: {dataset.meta.shapes}")

# Tasks
for idx, task in dataset.meta.tasks.iterrows():
    print(f"Task {task['task_index']}: {idx}")

Episode Information

# Access episode metadata
episodes = dataset.meta.episodes

for i in range(len(episodes)):
    ep = episodes[i]
    print(f"Episode {i}:")
    print(f"  Length: {ep['length']} frames")
    print(f"  Tasks: {ep['tasks']}")
    print(f"  Frame range: {ep['dataset_from_index']} - {ep['dataset_to_index']}")

Next Steps

• Using LeRobotDataset - Learn how to use the dataset class
• Porting Datasets - Convert your own datasets
• Dataset Tools - Manipulate and modify datasets
• Video Encoding - Advanced video encoding options