File size: 2,430 Bytes
09ec960 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 | ---
license: apache-2.0
task_categories:
- robotics
language:
- en
tags:
- lerobot
- pusht
- diffusion-policy
- robotics
- lance
- lerobot-lancedb
pretty_name: pusht-lerobot-lancedb-video (video blobs)
size_categories:
- 10K<n<100K
---
# pusht-lerobot-lancedb-video (video blobs)
A [`lerobot-lancedb`](https://github.com/lancedb/lerobot-lancedb)-format Lance copy of
[`lerobot/pusht`](https://huggingface.co/datasets/lerobot/pusht), using the **video-blob layout**:
one row per frame in `…video.lance` (tabular only), plus one row per source mp4 in
`…video_videos.lance` (raw mp4 bytes as Lance blob v2). Pixels are bit-exact with upstream.
> **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 and is **not loadable** with `lerobot-lancedb`. This
> repo is specifically the layout produced by `lerobot-convert-to-lance-video`.
## Load
```python
from lerobot_lancedb import LeRobotLanceVideoDataset
ds = LeRobotLanceVideoDataset(repo_id="lance-format/pusht-lerobot-lancedb-video")
print(len(ds)) # 25_650 frames
print(ds[0]["observation.image"].shape) # torch.Size([3, 96, 96])
```
Decode is on-the-fly via `torchcodec` against the inline mp4 bytes (no separate `videos/`
directory). Lance streams the segment bytes lazily through byte-range fetches from the Hub.
## Repro
```bash
pip install git+https://github.com/lancedb/lerobot-lancedb.git
lerobot-convert-to-lance-video \
--repo-id=lerobot/pusht \
--output=./pusht-lerobot-lancedb-video \
--table-name=pusht-lerobot-lancedb-video
```
## Layout
```
pusht-lerobot-lancedb-video/
├── meta/ # standard LeRobotDataset metadata sidecar
├── pusht-lerobot-lancedb-video.lance/ # one row per frame, tabular only
└── pusht-lerobot-lancedb-video_videos.lance/ # one row per source mp4, raw bytes as blob v2
```
Frames table columns: `episode_index`, `frame_index`, `index`, `timestamp`, `task_index`,
`observation.state`, `action`. Pixels live in the `_videos.lance` blob column and are decoded
per-(`episode`, `video_key`) segment at sample time.
Size: ~8 MB. Companion JPEG-frame layout (~60 MB, faster single-frame decode) at
[`lance-format/pusht-lerobot-lancedb`](https://huggingface.co/datasets/lance-format/pusht-lerobot-lancedb).
|