Hugging Face's logo

Datasets:
lerobot
/
aloha_sim_transfer_cube_human

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
aloha
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
fa75aa7
•
1 Parent(s): a0326de

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +143 -63
README.md CHANGED
@@ -1,17 +1,31 @@
1
  ---
 
2
  task_categories:
3
  - robotics
4
  tags:
5
  - LeRobot
6
  - aloha
 
 
 
7
  ---
 
8
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
9
 
10
- [meta/info.json](meta/info.json)
 
 
 
 
 
 
 
 
 
 
11
  ```json
12
  {
13
  "codebase_version": "v2.0",
14
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
  "robot_type": "aloha",
16
  "total_episodes": 50,
17
  "total_frames": 20000,
@@ -23,69 +37,135 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
23
  "splits": {
24
  "train": "0:50"
25
  },
26
- "keys": [
27
- "observation.state",
28
- "action"
29
- ],
30
- "video_keys": [
31
- "observation.images.top"
32
- ],
33
- "image_keys": [],
34
- "shapes": {
35
- "observation.state": 14,
36
- "action": 14,
37
- "observation.images.top": {
38
- "width": 640,
39
- "height": 480,
40
- "channels": 3
41
- }
42
- },
43
- "names": {
44
- "observation.state": [
45
- "left_waist",
46
- "left_shoulder",
47
- "left_elbow",
48
- "left_forearm_roll",
49
- "left_wrist_angle",
50
- "left_wrist_rotate",
51
- "left_gripper",
52
- "right_waist",
53
- "right_shoulder",
54
- "right_elbow",
55
- "right_forearm_roll",
56
- "right_wrist_angle",
57
- "right_wrist_rotate",
58
- "right_gripper"
59
- ],
60
- "action": [
61
- "left_waist",
62
- "left_shoulder",
63
- "left_elbow",
64
- "left_forearm_roll",
65
- "left_wrist_angle",
66
- "left_wrist_rotate",
67
- "left_gripper",
68
- "right_waist",
69
- "right_shoulder",
70
- "right_elbow",
71
- "right_forearm_roll",
72
- "right_wrist_angle",
73
- "right_wrist_rotate",
74
- "right_gripper"
75
- ]
76
- },
77
- "videos": {
78
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
79
  "observation.images.top": {
80
- "video.fps": 50.0,
81
- "video.width": 640,
82
- "video.height": 480,
83
- "video.channels": 3,
84
- "video.codec": "av1",
85
- "video.pix_fmt": "yuv420p",
86
- "video.is_depth_map": false,
87
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
88
  }
89
  }
90
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
91
  ```
 
1
  ---
2
+ license: mit
3
  task_categories:
4
  - robotics
5
  tags:
6
  - LeRobot
7
  - aloha
8
+ configs:
9
+ - config_name: default
10
+ data_files: data/*/*.parquet
11
  ---
12
+
13
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
14
 
15
+ ## Dataset Description
16
+
17
+
18
+
19
+ - **Homepage:** https://tonyzhaozh.github.io/aloha/
20
+ - **Paper:** https://arxiv.org/abs/2304.13705
21
+ - **License:** mit
22
+
23
+ ## Dataset Structure
24
+
25
+ [meta/info.json](meta/info.json):
26
  ```json
27
  {
28
  "codebase_version": "v2.0",
 
29
  "robot_type": "aloha",
30
  "total_episodes": 50,
31
  "total_frames": 20000,
 
37
  "splits": {
38
  "train": "0:50"
39
  },
40
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
41
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
42
+ "features": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
43
  "observation.images.top": {
44
+ "dtype": "video",
45
+ "shape": [
46
+ 480,
47
+ 640,
48
+ 3
49
+ ],
50
+ "names": [
51
+ "height",
52
+ "width",
53
+ "channel"
54
+ ],
55
+ "video_info": {
56
+ "video.fps": 50.0,
57
+ "video.codec": "av1",
58
+ "video.pix_fmt": "yuv420p",
59
+ "video.is_depth_map": false,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.state": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 14
67
+ ],
68
+ "names": {
69
+ "motors": [
70
+ "left_waist",
71
+ "left_shoulder",
72
+ "left_elbow",
73
+ "left_forearm_roll",
74
+ "left_wrist_angle",
75
+ "left_wrist_rotate",
76
+ "left_gripper",
77
+ "right_waist",
78
+ "right_shoulder",
79
+ "right_elbow",
80
+ "right_forearm_roll",
81
+ "right_wrist_angle",
82
+ "right_wrist_rotate",
83
+ "right_gripper"
84
+ ]
85
+ }
86
+ },
87
+ "action": {
88
+ "dtype": "float32",
89
+ "shape": [
90
+ 14
91
+ ],
92
+ "names": {
93
+ "motors": [
94
+ "left_waist",
95
+ "left_shoulder",
96
+ "left_elbow",
97
+ "left_forearm_roll",
98
+ "left_wrist_angle",
99
+ "left_wrist_rotate",
100
+ "left_gripper",
101
+ "right_waist",
102
+ "right_shoulder",
103
+ "right_elbow",
104
+ "right_forearm_roll",
105
+ "right_wrist_angle",
106
+ "right_wrist_rotate",
107
+ "right_gripper"
108
+ ]
109
+ }
110
+ },
111
+ "episode_index": {
112
+ "dtype": "int64",
113
+ "shape": [
114
+ 1
115
+ ],
116
+ "names": null
117
+ },
118
+ "frame_index": {
119
+ "dtype": "int64",
120
+ "shape": [
121
+ 1
122
+ ],
123
+ "names": null
124
+ },
125
+ "timestamp": {
126
+ "dtype": "float32",
127
+ "shape": [
128
+ 1
129
+ ],
130
+ "names": null
131
+ },
132
+ "next.done": {
133
+ "dtype": "bool",
134
+ "shape": [
135
+ 1
136
+ ],
137
+ "names": null
138
+ },
139
+ "index": {
140
+ "dtype": "int64",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ },
146
+ "task_index": {
147
+ "dtype": "int64",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null
152
  }
153
  }
154
  }
155
+ ```
156
+
157
+
158
+ ## Citation
159
+
160
+ **BibTeX:**
161
+
162
+ ```bibtex
163
+ @article{Zhao2023LearningFB,
164
+ title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
165
+ author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
166
+ journal={RSS},
167
+ year={2023},
168
+ volume={abs/2304.13705},
169
+ url={https://arxiv.org/abs/2304.13705}
170
+ }
171
  ```