| 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": "v2.0", | |
| "robot_type": "aloha-stationary", | |
| "total_episodes": 51, | |
| "total_frames": 51, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "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": "image", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 848 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observations.images.cam_left_wrist": { | |
| "dtype": "image", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 848 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "observations.images.cam_right_wrist": { | |
| "dtype": "image", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 848 | |
| ], | |
| "names": [ | |
| "channel", | |
| "height", | |
| "width" | |
| ] | |
| }, | |
| "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:** | |
| ```bibtex | |
| [More Information Needed] | |
| ``` |