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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- aloha |
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- hd5 |
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- robotics |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.0", |
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"robot_type": "aloha-stationary", |
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"total_episodes": 51, |
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"total_frames": 51, |
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"total_tasks": 1, |
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"total_videos": 153, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 50, |
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"splits": { |
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"train": "0:51" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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"action_0", |
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"action_1", |
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"action_2", |
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"action_3", |
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"action_4", |
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"action_5", |
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"action_6", |
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"action_7", |
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"action_8", |
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"action_9", |
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"action_10", |
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"action_11", |
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"action_12", |
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"action_13" |
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] |
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}, |
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"observations.effort": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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"effort_0", |
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"effort_1", |
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"effort_2", |
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"effort_3", |
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"effort_4", |
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"effort_5", |
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"effort_6", |
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"effort_7", |
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"effort_8", |
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"effort_9", |
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"effort_10", |
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"effort_11", |
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"effort_12", |
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"effort_13" |
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] |
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}, |
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"observations.images.cam_high": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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848 |
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], |
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"names": [ |
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"channel", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 50.0, |
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"video.height": 480, |
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"video.width": 848, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observations.images.cam_left_wrist": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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848 |
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], |
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"names": [ |
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"channel", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 50.0, |
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"video.height": 480, |
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"video.width": 848, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observations.images.cam_right_wrist": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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848 |
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], |
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"names": [ |
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"channel", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 50.0, |
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"video.height": 480, |
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"video.width": 848, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observations.qpos": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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"qpos_0", |
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"qpos_1", |
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"qpos_2", |
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"qpos_3", |
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"qpos_4", |
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"qpos_5", |
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"qpos_6", |
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"qpos_7", |
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"qpos_8", |
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"qpos_9", |
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"qpos_10", |
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"qpos_11", |
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"qpos_12", |
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"qpos_13" |
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] |
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}, |
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"observations.qvel": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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"qvel_0", |
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"qvel_1", |
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"qvel_2", |
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"qvel_3", |
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"qvel_4", |
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"qvel_5", |
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"qvel_6", |
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"qvel_7", |
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"qvel_8", |
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"qvel_9", |
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"qvel_10", |
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"qvel_11", |
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"qvel_12", |
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"qvel_13" |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
