| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - aloha |
| - robotics |
| - hdf5 |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v2.1", |
| "robot_type": "aloha-stationary", |
| "total_episodes": 100, |
| "total_frames": 69491, |
| "total_tasks": 1, |
| "total_videos": 300, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 60, |
| "splits": { |
| "train": "0:100" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "action_0", |
| "action_1", |
| "action_2", |
| "action_3", |
| "action_4", |
| "action_5", |
| "action_6", |
| "action_7", |
| "action_8", |
| "action_9", |
| "action_10", |
| "action_11", |
| "action_12", |
| "action_13" |
| ] |
| }, |
| "observation.images.left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 60.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 60.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "names": [ |
| "channel", |
| "height", |
| "width" |
| ], |
| "info": { |
| "video.fps": 60.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "qpos_0", |
| "qpos_1", |
| "qpos_2", |
| "qpos_3", |
| "qpos_4", |
| "qpos_5", |
| "qpos_6", |
| "qpos_7", |
| "qpos_8", |
| "qpos_9", |
| "qpos_10", |
| "qpos_11", |
| "qpos_12", |
| "qpos_13" |
| ] |
| }, |
| "observation.qvel": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "qvel_0", |
| "qvel_1", |
| "qvel_2", |
| "qvel_3", |
| "qvel_4", |
| "qvel_5", |
| "qvel_6", |
| "qvel_7", |
| "qvel_8", |
| "qvel_9", |
| "qvel_10", |
| "qvel_11", |
| "qvel_12", |
| "qvel_13" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
