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L2D R1 release #2831

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Apr 30, 2025
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L2D R1 release #2831

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14 changes: 12 additions & 2 deletions lerobot-goes-to-driving-school.md
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# TL;DR

A snapshot of [L2D](https://huggingface.co/datasets/yaak-ai/L2D), the world's largest self-driving dataset!
- 90+ TeraBytes of multimodal data (5000+ hours of driving) from 30 cities in Germany.
- 6 surrounding HD cameras + vehicle state (Speed/Heading/GPS/IMU)
- Continuous (Gas/Brake/Steering) and discrete actions (Gear/Turn Signals)
- OpenStreetMap [matched waypoints](#OpenStreetMap) from birds-eye-view.
- Natural language instructions. F.ex ["When the light turns green, drive over the tram tracks and then through the roundabout"](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=yaak-ai%2FL2D&episode=82))
- Expert (driving instructors) and student (learner drivers) policies

# LeRobot goes to driving school

State-of-the art [Vision Language Models](https://huggingface.co/blog/vlms) and Large Language Models are trained on open-source
Expand Down Expand Up @@ -249,8 +259,8 @@ information about the episodes. Each release **R1+** is a superset of the previo

| HF | Nutron | Date | Episodes | Duration | Size | instructions | task\_id | observation.state.route | suboptimal |
| :---: | :---: | :---: | :---: | :---: | :---: | :---: | :---: | :---: | :---: |
| [R0](https://huggingface.co/datasets/yaak-ai/L2D) | [R0](https://nutron-sandbox.yaak.ai/collections/fcbb0dfd-40ae-4fd2-b023-7f300f35c5c7/300b7174-b6aa-4598-83e8-fc28cc5fcbe3/list) | March 2025 | 100 | 0.5+ hr | 9,5 GB | ☑️ | | | |
| R1 | R1 | April 2025 | 1K | 5+ hr | 95 GB | ☑️ | | | |
| [R0](https://huggingface.co/datasets/yaak-ai/L2D/tree/R0) | [R0](https://nutron-sandbox.yaak.ai/collections/fcbb0dfd-40ae-4fd2-b023-7f300f35c5c7/300b7174-b6aa-4598-83e8-fc28cc5fcbe3/search/list/session-logs?context=5s) | March 2025 | 100 | 0.5+ hr | 9,5 GB | ☑️ | | | |
| [R1](https://huggingface.co/datasets/yaak-ai/L2D) | [R1](https://nutron-sandbox.yaak.ai/collections/fcbb0dfd-40ae-4fd2-b023-7f300f35c5c7/1cb18573-f731-47b1-ae89-7ea2f026b8d0/search/list/session-logs?context=5s) | April 2025 | 1K | 5+ hr | 95 GB | ☑️ | | | |
| R2 | R2 | May 2025 | 10K | 50+ hr | 1 TB | ☑️ | ☑️ | ☑️ | ☑️ |
| R3 | R3 | June 2025 | 100K | 500+ hr | 10 TB | ☑️ | ☑️ | ☑️ | ☑️ |
| R4 | R4 | July 2025 | 1M | 5000+ hr | 90 TB | ☑️ | ☑️ | ☑️ | ☑️ |
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