README.md

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

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha-stationary",
    "total_episodes": 51,
    "total_frames": 40800,
    "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": null
        },
        "observations.effort": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": null
        },
        "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": null
        },
        "observations.qvel": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": null
        },
        "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]