Datasets:
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README.md
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---
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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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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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-
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```json
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{
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"codebase_version": "v2.0",
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"robot_type": "aloha",
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"total_episodes": 50,
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"total_frames": 25000,
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@@ -23,57 +37,121 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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"splits": {
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"train": "0:50"
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},
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"
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],
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"video_keys": [],
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"image_keys": [
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"observation.images.top"
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],
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"shapes": {
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"observation.state": 14,
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"action": 14,
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"observation.images.top": {
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"
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"
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-
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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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},
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"videos": null
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}
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```
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---
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+
license: mit
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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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+
configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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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 [optional]:** [More Information Needed]
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- **License:** mit
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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",
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"total_episodes": 50,
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"total_frames": 25000,
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"splits": {
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"train": "0:50"
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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": null,
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"features": {
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"observation.images.top": {
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"dtype": "image",
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"shape": [
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480,
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640,
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+
3
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],
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"names": [
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"height",
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"width",
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"channel"
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]
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},
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"observation.state": {
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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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"motors": [
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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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},
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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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"motors": [
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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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},
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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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"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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"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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"next.done": {
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"dtype": "bool",
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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 [optional]
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**BibTeX:**
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```bibtex
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[More Information Needed]
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```
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