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README.md
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@@ -3,6 +3,136 @@ task_categories:
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- robotics
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tags:
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- LeRobot
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---
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-
This dataset was created using [
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- robotics
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tags:
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- LeRobot
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+
- aloha
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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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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"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
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"robot_type": "aloha",
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"total_episodes": 55,
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"total_frames": 110000,
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"total_tasks": 1,
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"fps": 50,
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"splits": {
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"train": "0:55"
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},
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"keys": [
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"observation.state",
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"observation.effort",
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"action"
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],
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"video_keys": [
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"observation.images.cam_high",
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"observation.images.cam_left_wrist",
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"observation.images.cam_right_wrist"
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],
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"image_keys": [],
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"shapes": {
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"observation.state": 14,
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"observation.effort": 14,
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"action": 14,
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"observation.images.cam_high": {
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"width": 640,
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"height": 480,
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"channels": 3
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},
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"observation.images.cam_left_wrist": {
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"width": 640,
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"height": 480,
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"channels": 3
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},
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"observation.images.cam_right_wrist": {
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"width": 640,
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"height": 480,
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"channels": 3
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}
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},
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"names": {
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"observation.state": [
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"left_waist",
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"left_shoulder",
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"left_elbow",
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"left_forearm_roll",
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"left_wrist_angle",
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"left_wrist_rotate",
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"left_gripper",
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"right_waist",
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"right_shoulder",
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"right_elbow",
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"right_forearm_roll",
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"right_wrist_angle",
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"right_wrist_rotate",
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"right_gripper"
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],
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"action": [
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"left_waist",
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"left_shoulder",
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"left_elbow",
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"left_forearm_roll",
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"left_wrist_angle",
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"left_wrist_rotate",
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"left_gripper",
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"right_waist",
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"right_shoulder",
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"right_elbow",
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"right_forearm_roll",
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"right_wrist_angle",
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"right_wrist_rotate",
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"right_gripper"
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],
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"observation.effort": [
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"left_waist",
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"left_shoulder",
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"left_elbow",
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"left_forearm_roll",
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"left_wrist_angle",
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"left_wrist_rotate",
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"left_gripper",
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"right_waist",
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"right_shoulder",
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"right_elbow",
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"right_forearm_roll",
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"right_wrist_angle",
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"right_wrist_rotate",
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"right_gripper"
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]
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},
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"videos": {
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"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
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"observation.images.cam_high": {
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"video.fps": 50.0,
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"video.width": 640,
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"video.height": 480,
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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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"observation.images.cam_left_wrist": {
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"video.fps": 50.0,
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"video.width": 640,
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"video.height": 480,
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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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"observation.images.cam_right_wrist": {
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"video.fps": 50.0,
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"video.width": 640,
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"video.height": 480,
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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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}
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```
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