Upload dataset with 1 episodes

README.md

@@ -0,0 +1,214 @@
+---
+license: mit
+task_categories:
+- robotics
+- reinforcement-learning
+tags:
+- drone
+- simulation
+- liftoff
+- imitation-learning
+- robot-learning
+size_categories:
+- n<1K
+- 1K<n<10K
+- 10K<n<100K
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: "chunk-*/data/*.parquet"
+---
+
+# liftoff_drone_dataset
+
+## Dataset Description
+
+This dataset contains telemetry and control data from the Liftoff drone simulator, recorded for robot learning and imitation learning tasks.
+
+### Dataset Summary
+
+- **Robot Type**: liftoff_drone_simulator
+- **Total Episodes**: 1
+- **Total Frames**: 1357
+- **Recording FPS**: 30.0 Hz
+- **Video FPS**: 30.0 Hz
+- **LeRobot Version**: v3.0
+- **Chunk Size**: 100 episodes per chunk
+
+### Data Structure
+
+The dataset is organized into chunks for efficient storage and retrieval:
+
+```
+dataset/
+├── chunk-000/          # Episodes 0-99
+│   ├── data/          # Parquet files with telemetry
+│   ├── videos/        # MP4 videos (if available)
+│   └── meta/          # Episode metadata
+├── chunk-001/          # Episodes 100-199
+│   └── ...
+└── meta/              # Global metadata
+    ├── info.json      # Dataset information
+    └── stats.json     # Statistics
+```
+
+## Features
+
+### Observation State (16 dimensions)
+
+The observation state contains drone telemetry:
+
+| Index | Feature | Description |
+|-------|---------|-------------|
+| 0-2 | pos_x, pos_y, pos_z | Position in 3D space (meters) |
+| 3-6 | ori_x, ori_y, ori_z, ori_w | Orientation quaternion |
+| 7-9 | vel_x, vel_y, vel_z | Linear velocity (m/s) |
+| 10-12 | ang_vel_x, ang_vel_y, ang_vel_z | Angular velocity (rad/s) |
+| 13-15 | acc_x, acc_y, acc_z | Linear acceleration (m/s²) |
+
+### Action (4 dimensions)
+
+RC controller inputs:
+
+| Index | Feature | Description |
+|-------|---------|-------------|
+| 0 | throttle | Throttle input |
+| 1 | yaw | Yaw control |
+| 2 | pitch | Pitch control |
+| 3 | roll | Roll control |
+
+### Video Data
+
+Each episode includes synchronized video at 30.0 FPS.
+- **Format**: MP4
+- **Codec**: mp4v
+- **Location**: `chunk-XXX/videos/episode_XXXXXX_liftoff.mp4`
+
+## Statistics
+
+### Observation State Statistics
+
+| Feature | Mean | Std | Min | Max |
+|---------|------|-----|-----|-----|
+| pos_x | 1108.4283 | 45.6066 | 1062.3221 | 1266.5591 |
+| pos_y | -1072.1070 | 45.1135 | -1180.4570 | -1014.4241 |
+| pos_z | 2.3304 | 1.5687 | 0.0495 | 8.0291 |
+| ori_x | -0.1632 | 0.3821 | -0.8127 | 0.9584 |
+| ori_y | 0.1264 | 0.3482 | -0.6710 | 0.7001 |
+| ori_z | 0.2719 | 0.5303 | -0.8301 | 0.8648 |
+| ori_w | -0.3539 | 0.4580 | -0.8651 | 0.7685 |
+| vel_x | 3.1551 | 16.4758 | -31.6221 | 35.7065 |
+| vel_y | -0.4859 | 20.3263 | -35.7660 | 33.6974 |
+| vel_z | 0.1774 | 2.3431 | -8.8202 | 11.1492 |
+| ang_vel_x | 0.2769 | 1.6505 | -8.2796 | 13.7966 |
+| ang_vel_y | 0.1181 | 1.6863 | -35.1017 | 35.8174 |
+| ang_vel_z | -0.1881 | 1.4257 | -7.3040 | 34.0098 |
+| acc_x | 0.1231 | 34.5961 | -669.9283 | 359.1005 |
+| acc_y | -0.3573 | 24.0967 | -140.9671 | 253.7777 |
+| acc_z | 0.1464 | 14.7532 | -63.3092 | 382.4714 |
+
+### Action Statistics
+
+| Feature | Mean | Std | Min | Max |
+|---------|------|-----|-----|-----|
+| throttle | 0.4076 | 0.6514 | -0.9951 | 0.9843 |
+| yaw | -0.0242 | 0.0779 | -0.4100 | 0.2675 |
+| pitch | -0.0541 | 0.1754 | -0.9043 | 0.5213 |
+| roll | 0.0623 | 0.3170 | -0.9440 | 0.8151 |
+
+## Usage
+
+### Loading the Dataset
+
+```python
+from datasets import load_dataset
+
+# Load from Hugging Face Hub
+dataset = load_dataset("YOUR_USERNAME/YOUR_DATASET_NAME")
+
+# Or load locally
+dataset = load_dataset("parquet", data_files="chunk-*/data/*.parquet")
+```
+
+### Using with LeRobot
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+# Load dataset
+dataset = LeRobotDataset("YOUR_USERNAME/YOUR_DATASET_NAME")
+
+print(f"Total episodes: {dataset.num_episodes}")
+print(f"Total frames: {len(dataset)}")
+
+# Iterate through data
+for item in dataset:
+    observation = item['observation.state']  # Shape: [16]
+    action = item['action']  # Shape: [4]
+    # ... use for training
+```
+
+### Accessing Videos
+
+Videos are stored as MP4 files in chunk directories:
+
+```python
+import pandas as pd
+from pathlib import Path
+
+# Load episode data
+df = pd.read_parquet("chunk-000/data/episode_000000.parquet")
+
+# Video path is stored in metadata
+# Load from: chunk-000/videos/episode_000000_liftoff.mp4
+```
+
+## Dataset Creation
+
+### Recording Setup
+
+- **Simulator**: Liftoff Drone Simulator
+- **Bridge**: ROS2 Jazzy
+- **Recorder**: Custom LeRobot-compatible recorder
+- **Control**: RC controller or gamepad
+
+### Data Collection Process
+
+1. Start Liftoff simulator
+2. Launch ROS2 bridge (`liftoff_bridge_ros2.py`)
+3. Start recorder with gamepad control
+4. Fly manually and record episodes
+5. Data automatically organized into chunks
+
+### Quality Control
+
+- Episodes with crashes or poor control are discarded using emergency stop
+- Each episode includes full telemetry and synchronized video
+- Statistics computed across all episodes for normalization
+
+## Licensing
+
+This dataset is released under the MIT License.
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@misc{liftoff_drone_dataset,
+  title={Liftoff Drone Simulator Dataset},
+  author={Your Name},
+  year={2025},
+  publisher={Hugging Face},
+  howpublished={\url{https://huggingface.co/datasets/YOUR_USERNAME/YOUR_DATASET_NAME}}
+}
+```
+
+## Contact
+
+For questions or issues, please open an issue on the dataset repository.
+
+---
+
+**Generated with [LeRobot Liftoff Bridge](https://github.com/YOUR_REPO)**

chunk-000/data/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb01db7a8d8f10b7e33f06db55c65dd39968c23aa7f39ca006f5f613332343d0
+size 86801

chunk-000/data/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb2e0d632ebfd545fc63e4c21915bcdf7bd41f5fe0bd42d34e2fec41a2226a4
+size 138297

chunk-000/meta/episodes/episode_000000.json

@@ -0,0 +1,7 @@
+{
+  "episode_index": 0,
+  "length": 524,
+  "duration": 17.464615664,
+  "data_path": "chunk-000/data/episode_000000.parquet",
+  "video_path": "chunk-000/videos/episode_000000_liftoff.mp4"
+}

chunk-000/meta/episodes/episode_000001.json

@@ -0,0 +1,7 @@
+{
+  "episode_index": 1,
+  "length": 833,
+  "duration": 27.738278500000003,
+  "data_path": "chunk-000/data/episode_000001.parquet",
+  "video_path": "chunk-000/videos/episode_000001_liftoff.mp4"
+}

chunk-000/videos/episode_000000_liftoff.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e366b3e9efcb83d7d36f0d0f08c3c8635a1c1f075f86a52798f80c262508b2bd
+size 63805451

chunk-000/videos/episode_000001_liftoff.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8405bebefae6cc7b2b27edd2e53725017a83eb43f7798cd13ea8771280f19b
+size 106428804

meta/info.json

@@ -0,0 +1,66 @@
+{
+  "codebase_version": "v3.0",
+  "fps": 30.0,
+  "video_fps": 30.0,
+  "robot_type": "liftoff_drone_simulator",
+  "total_episodes": 1,
+  "total_frames": 1357,
+  "chunk_size": 100,
+  "features": {
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": [
+        "pos_x",
+        "pos_y",
+        "pos_z",
+        "ori_x",
+        "ori_y",
+        "ori_z",
+        "ori_w",
+        "vel_x",
+        "vel_y",
+        "vel_z",
+        "ang_vel_x",
+        "ang_vel_y",
+        "ang_vel_z",
+        "acc_x",
+        "acc_y",
+        "acc_z"
+      ]
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        4
+      ],
+      "names": [
+        "throttle",
+        "yaw",
+        "pitch",
+        "roll"
+      ]
+    },
+    "episode_index": {
+      "dtype": "int64"
+    },
+    "frame_index": {
+      "dtype": "int64"
+    },
+    "timestamp": {
+      "dtype": "float32"
+    },
+    "next.done": {
+      "dtype": "bool"
+    },
+    "observation.images.liftoff": {
+      "video_info": {
+        "video.fps": 30.0,
+        "video.codec": "mp4v",
+        "video.pix_fmt": "yuv420p"
+      }
+    }
+  }
+}

meta/stats.json

@@ -0,0 +1,102 @@
+{
+  "observation.state": {
+    "mean": [
+      1108.4282927319857,
+      -1072.1069646735532,
+      2.3303521676544943,
+      -0.16322944986487176,
+      0.12642046348951647,
+      0.2718793417302828,
+      -0.35392113093290356,
+      3.155102908619267,
+      -0.48586537720746514,
+      0.1774124894768148,
+      0.2769409404378811,
+      0.11807016322556688,
+      -0.18806348394219674,
+      0.12312999709124835,
+      -0.3573442511795086,
+      0.14643042987022034
+    ],
+    "std": [
+      45.606550631093015,
+      45.11348834579694,
+      1.568746690110716,
+      0.3820608905092092,
+      0.348224717897464,
+      0.530262832654925,
+      0.4580238808065006,
+      16.475770973183835,
+      20.326337564032432,
+      2.3430848255126273,
+      1.650455495983991,
+      1.686317680401106,
+      1.425707063173575,
+      34.59610181278284,
+      24.096669722996523,
+      14.753170542419575
+    ],
+    "min": [
+      1062.3221435546875,
+      -1180.45703125,
+      0.04948427528142929,
+      -0.8126533627510071,
+      -0.671003520488739,
+      -0.8301132917404175,
+      -0.865094006061554,
+      -31.622112274169922,
+      -35.76601028442383,
+      -8.82015609741211,
+      -8.279586791992188,
+      -35.10171890258789,
+      -7.303985595703125,
+      -669.9282836914062,
+      -140.96710205078125,
+      -63.309173583984375
+    ],
+    "max": [
+      1266.55908203125,
+      -1014.424072265625,
+      8.029143333435059,
+      0.9584319591522217,
+      0.7000893354415894,
+      0.8648200035095215,
+      0.7684717178344727,
+      35.70646286010742,
+      33.69743728637695,
+      11.149155616760254,
+      13.796575546264648,
+      35.817386627197266,
+      34.00975799560547,
+      359.10052490234375,
+      253.7777099609375,
+      382.4714050292969
+    ]
+  },
+  "action": {
+    "mean": [
+      0.40762066603936775,
+      -0.024219077404855436,
+      -0.05413641601024702,
+      0.06230883918583871
+    ],
+    "std": [
+      0.6513956381242813,
+      0.07785166759800959,
+      0.17539452081386217,
+      0.31699080409477587
+    ],
+    "min": [
+      -0.9950956106185913,
+      -0.41002950072288513,
+      -0.9042501449584961,
+      -0.9439527988433838
+    ],
+    "max": [
+      0.9843060970306396,
+      0.26745328307151794,
+      0.5212506055831909,
+      0.8151425719261169
+    ]
+  }
+}