Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- aloha
- robotics
- hdf5
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Task Description
The right arm picks a single malteser unit from the top box into the bottom box. The top box might contain multiple malteser items. The left arm does not pick, but it can move and mostly looks at the boxes.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "aloha-stationary",
"total_episodes": 100,
"total_frames": 53163,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11",
"action_12",
"action_13"
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
14
],
"names": [
"effort_0",
"effort_1",
"effort_2",
"effort_3",
"effort_4",
"effort_5",
"effort_6",
"effort_7",
"effort_8",
"effort_9",
"effort_10",
"effort_11",
"effort_12",
"effort_13"
]
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
3,
480,
848
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
3,
480,
848
],
"names": [
"channel",
"height",
"width"
]
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
3,
480,
848
],
"names": [
"channel",
"height",
"width"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"qpos_0",
"qpos_1",
"qpos_2",
"qpos_3",
"qpos_4",
"qpos_5",
"qpos_6",
"qpos_7",
"qpos_8",
"qpos_9",
"qpos_10",
"qpos_11",
"qpos_12",
"qpos_13"
]
},
"observation.qvel": {
"dtype": "float32",
"shape": [
14
],
"names": [
"qvel_0",
"qvel_1",
"qvel_2",
"qvel_3",
"qvel_4",
"qvel_5",
"qvel_6",
"qvel_7",
"qvel_8",
"qvel_9",
"qvel_10",
"qvel_11",
"qvel_12",
"qvel_13"
]
},
"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]