| --- |
| 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). |
|
|
