metadata
license: mit
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- vifailback
- aloha
- piper
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: mit
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "aloha_agilex_piper",
"total_episodes": 4714,
"total_frames": 1190262,
"total_tasks": 98,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 25,
"splits": {
"train": "0:4714"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"raw_state.left_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"raw_state.left_joint_vel": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"raw_state.left_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"raw_state.left_eef_quat": {
"dtype": "float32",
"shape": [
4
],
"names": [
"x",
"y",
"z",
"w"
]
},
"raw_state.left_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"raw_state.right_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"raw_state.right_joint_vel": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"raw_state.right_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"raw_state.right_eef_quat": {
"dtype": "float32",
"shape": [
4
],
"names": [
"x",
"y",
"z",
"w"
]
},
"raw_state.right_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"raw_target.left_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"raw_target.left_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"raw_target.left_eef_quat": {
"dtype": "float32",
"shape": [
4
],
"names": [
"x",
"y",
"z",
"w"
]
},
"raw_target.left_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"raw_target.right_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"raw_target.right_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"raw_target.right_eef_quat": {
"dtype": "float32",
"shape": [
4
],
"names": [
"x",
"y",
"z",
"w"
]
},
"raw_target.right_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"raw_target.base_vel": {
"dtype": "float32",
"shape": [
2
],
"names": [
"linear_vel",
"angular_vel"
]
},
"state.left_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"state.left_joint_vel": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"state.left_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"state.left_eef_rot9d": {
"dtype": "float32",
"shape": [
9
],
"names": [
"r11",
"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"state.left_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"state.right_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"state.right_joint_vel": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"state.right_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"state.right_eef_rot9d": {
"dtype": "float32",
"shape": [
9
],
"names": [
"r11",
"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"state.right_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"target.left_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"target.left_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"target.left_eef_rot9d": {
"dtype": "float32",
"shape": [
9
],
"names": [
"r11",
"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"target.left_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"target.right_joint_pos": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
},
"target.right_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"target.right_eef_rot9d": {
"dtype": "float32",
"shape": [
9
],
"names": [
"r11",
"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"target.right_gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"target.base_vel": {
"dtype": "float32",
"shape": [
2
],
"names": [
"linear_vel",
"angular_vel"
]
},
"debug.left_gripper_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"debug.left_gripper_eef_rot6d": {
"dtype": "float32",
"shape": [
6
],
"names": [
"r11",
"r21",
"r31",
"r12",
"r22",
"r32"
]
},
"debug.right_gripper_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"debug.right_gripper_eef_rot6d": {
"dtype": "float32",
"shape": [
6
],
"names": [
"r11",
"r21",
"r31",
"r12",
"r22",
"r32"
]
},
"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:
[More Information Needed]