metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- aloha
- hd5
- robotics
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: apache-2.0
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "aloha-stationary",
"total_episodes": 51,
"total_frames": 51,
"total_tasks": 1,
"total_videos": 153,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:51"
},
"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"
]
},
"observations.effort": {
"dtype": "float32",
"shape": [
14
],
"names": [
"effort_0",
"effort_1",
"effort_2",
"effort_3",
"effort_4",
"effort_5",
"effort_6",
"effort_7",
"effort_8",
"effort_9",
"effort_10",
"effort_11",
"effort_12",
"effort_13"
]
},
"observations.images.cam_high": {
"dtype": "video",
"shape": [
3,
480,
848
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 50.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observations.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
848
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 50.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observations.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
848
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 50.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observations.qpos": {
"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"
]
},
"observations.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:
[More Information Needed]