Grigorij/Tello_multifruit_sum_vla_jepa
Robotics • 3B • Updated • 21
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action list | timestamp float32 0 10.5 | frame_index int64 0 314 | episode_index int64 0 148 | index int64 0 31.6k | task_index int64 0 2 | observation.state list |
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[
1,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Repaired copy of Grigorij/Tello_multifruit_sum
(Tello drone, 149 episodes, 31624 frames, 30 fps). Video, actions, tasks, timestamps and all
indices are byte-for-byte identical to the original; only observation.state changed.
Why: in the original, observation.state was declared with shape=[1], which LeRobot
deliberately stores as a bare scalar Arrow column (see get_hf_features_from_features).
Policies that load several observation timesteps then receive a 2-D tensor [B, T] with no
feature axis, and mistake the time axis for the feature axis. With vla_jepa
(num_video_frames=8) this crashes in the action head:
RuntimeError: mat1 and mat2 shapes cannot be multiplied (64x8 and 1x1024).
Fix: observation.state is now a genuine 2-channel vector, shape=[2], stored as
fixed_size_list<float>[2], so it always carries a real feature axis:
| channel | name | units | definition |
|---|---|---|---|
| 0 | height |
cm | the original altitude, copied verbatim and unchanged |
| 1 | height_velocity |
cm/s | backward finite difference of channel 0 within each episode: v[0] = 0, v[t] = (h[t] - h[t-1]) * 30 |
Channel 0 is bitwise identical to the original observation.state for all 31624 frames, so the
original signal is fully recoverable with state[..., 0].
Caveat on channel 1: the Tello reports altitude quantised to 10 cm, so the finite difference is 0 for 97.8% of frames and exactly +/-300 cm/s otherwise. It marks vertical transitions rather than providing a smooth velocity estimate.
Built with lerobot.datasets.dataset_tools (remove_feature, then add_features, then
recompute_stats); meta/stats.json and the per-episode stats in meta/episodes/ were both
regenerated for the new 2-channel shape.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.camera_front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": [
"forward",
"right",
"up",
"yaw"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
2
],
"names": [
"height",
"height_velocity"
]
}
},
"total_episodes": 149,
"total_frames": 31624,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": null,
"splits": {
"train": "0:149"
}
}
Citation
BibTeX:
[More Information Needed]
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