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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 25000,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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        "observation.state": {
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                    "left_waist",
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                    "left_wrist_rotate",
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                    "right_shoulder",
                    "right_elbow",
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        "action": {
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                    "left_gripper",
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                    "right_elbow",
                    "right_forearm_roll",
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                    "right_wrist_rotate",
                    "right_gripper"
                ]
            }
        },
        "episode_index": {
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        },
        "frame_index": {
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        },
        "timestamp": {
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        },
        "next.done": {
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        },
        "index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

@article{Zhao2023LearningFB,
    title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
    author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
    journal={RSS},
    year={2023},
    volume={abs/2304.13705},
    url={https://arxiv.org/abs/2304.13705}
}
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