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lerobot
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aloha_mobile_elevator

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
aloha
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@@ -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": 20,
17
  "total_frames": 45000,
@@ -23,119 +37,197 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
23
  "splits": {
24
  "train": "0:20"
25
  },
26
- "keys": [
27
- "observation.state",
28
- "observation.effort",
29
- "action"
30
- ],
31
- "video_keys": [
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- "observation.images.cam_high",
33
- "observation.images.cam_left_wrist",
34
- "observation.images.cam_right_wrist"
35
- ],
36
- "image_keys": [],
37
- "shapes": {
38
- "observation.state": 14,
39
- "observation.effort": 14,
40
- "action": 14,
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  "observation.images.cam_high": {
42
- "width": 640,
43
- "height": 480,
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- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
45
  },
46
  "observation.images.cam_left_wrist": {
47
- "width": 640,
48
- "height": 480,
49
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
50
  },
51
  "observation.images.cam_right_wrist": {
52
- "width": 640,
53
- "height": 480,
54
- "channels": 3
55
- }
56
- },
57
- "names": {
58
- "observation.state": [
59
- "left_waist",
60
- "left_shoulder",
61
- "left_elbow",
62
- "left_forearm_roll",
63
- "left_wrist_angle",
64
- "left_wrist_rotate",
65
- "left_gripper",
66
- "right_waist",
67
- "right_shoulder",
68
- "right_elbow",
69
- "right_forearm_roll",
70
- "right_wrist_angle",
71
- "right_wrist_rotate",
72
- "right_gripper"
73
- ],
74
- "action": [
75
- "left_waist",
76
- "left_shoulder",
77
- "left_elbow",
78
- "left_forearm_roll",
79
- "left_wrist_angle",
80
- "left_wrist_rotate",
81
- "left_gripper",
82
- "right_waist",
83
- "right_shoulder",
84
- "right_elbow",
85
- "right_forearm_roll",
86
- "right_wrist_angle",
87
- "right_wrist_rotate",
88
- "right_gripper"
89
- ],
90
- "observation.effort": [
91
- "left_waist",
92
- "left_shoulder",
93
- "left_elbow",
94
- "left_forearm_roll",
95
- "left_wrist_angle",
96
- "left_wrist_rotate",
97
- "left_gripper",
98
- "right_waist",
99
- "right_shoulder",
100
- "right_elbow",
101
- "right_forearm_roll",
102
- "right_wrist_angle",
103
- "right_wrist_rotate",
104
- "right_gripper"
105
- ]
106
- },
107
- "videos": {
108
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
109
- "observation.images.cam_high": {
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- "video.fps": 50.0,
111
- "video.width": 640,
112
- "video.height": 480,
113
- "video.channels": 3,
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- "video.codec": "av1",
115
- "video.pix_fmt": "yuv420p",
116
- "video.is_depth_map": false,
117
- "has_audio": false
118
  },
119
- "observation.images.cam_left_wrist": {
120
- "video.fps": 50.0,
121
- "video.width": 640,
122
- "video.height": 480,
123
- "video.channels": 3,
124
- "video.codec": "av1",
125
- "video.pix_fmt": "yuv420p",
126
- "video.is_depth_map": false,
127
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
128
  },
129
- "observation.images.cam_right_wrist": {
130
- "video.fps": 50.0,
131
- "video.width": 640,
132
- "video.height": 480,
133
- "video.channels": 3,
134
- "video.codec": "av1",
135
- "video.pix_fmt": "yuv420p",
136
- "video.is_depth_map": false,
137
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
138
  }
139
  }
140
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
141
  ```
 
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://mobile-aloha.github.io/
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+ - **Paper:** https://arxiv.org/abs/2401.02117
21
+ - **License:** mit
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
26
  ```json
27
  {
28
  "codebase_version": "v2.0",
 
29
  "robot_type": "aloha",
30
  "total_episodes": 20,
31
  "total_frames": 45000,
 
37
  "splits": {
38
  "train": "0:20"
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.cam_high": {
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.images.cam_left_wrist": {
64
+ "dtype": "video",
65
+ "shape": [
66
+ 480,
67
+ 640,
68
+ 3
69
+ ],
70
+ "names": [
71
+ "height",
72
+ "width",
73
+ "channel"
74
+ ],
75
+ "video_info": {
76
+ "video.fps": 50.0,
77
+ "video.codec": "av1",
78
+ "video.pix_fmt": "yuv420p",
79
+ "video.is_depth_map": false,
80
+ "has_audio": false
81
+ }
82
  },
83
  "observation.images.cam_right_wrist": {
84
+ "dtype": "video",
85
+ "shape": [
86
+ 480,
87
+ 640,
88
+ 3
89
+ ],
90
+ "names": [
91
+ "height",
92
+ "width",
93
+ "channel"
94
+ ],
95
+ "video_info": {
96
+ "video.fps": 50.0,
97
+ "video.codec": "av1",
98
+ "video.pix_fmt": "yuv420p",
99
+ "video.is_depth_map": false,
100
+ "has_audio": false
101
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
102
  },
103
+ "observation.state": {
104
+ "dtype": "float32",
105
+ "shape": [
106
+ 14
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+ ],
108
+ "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",
114
+ "left_wrist_angle",
115
+ "left_wrist_rotate",
116
+ "left_gripper",
117
+ "right_waist",
118
+ "right_shoulder",
119
+ "right_elbow",
120
+ "right_forearm_roll",
121
+ "right_wrist_angle",
122
+ "right_wrist_rotate",
123
+ "right_gripper"
124
+ ]
125
+ }
126
  },
127
+ "observation.effort": {
128
+ "dtype": "float32",
129
+ "shape": [
130
+ 14
131
+ ],
132
+ "names": {
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+ "motors": [
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+ "left_waist",
135
+ "left_shoulder",
136
+ "left_elbow",
137
+ "left_forearm_roll",
138
+ "left_wrist_angle",
139
+ "left_wrist_rotate",
140
+ "left_gripper",
141
+ "right_waist",
142
+ "right_shoulder",
143
+ "right_elbow",
144
+ "right_forearm_roll",
145
+ "right_wrist_angle",
146
+ "right_wrist_rotate",
147
+ "right_gripper"
148
+ ]
149
+ }
150
+ },
151
+ "action": {
152
+ "dtype": "float32",
153
+ "shape": [
154
+ 14
155
+ ],
156
+ "names": {
157
+ "motors": [
158
+ "left_waist",
159
+ "left_shoulder",
160
+ "left_elbow",
161
+ "left_forearm_roll",
162
+ "left_wrist_angle",
163
+ "left_wrist_rotate",
164
+ "left_gripper",
165
+ "right_waist",
166
+ "right_shoulder",
167
+ "right_elbow",
168
+ "right_forearm_roll",
169
+ "right_wrist_angle",
170
+ "right_wrist_rotate",
171
+ "right_gripper"
172
+ ]
173
+ }
174
+ },
175
+ "episode_index": {
176
+ "dtype": "int64",
177
+ "shape": [
178
+ 1
179
+ ],
180
+ "names": null
181
+ },
182
+ "frame_index": {
183
+ "dtype": "int64",
184
+ "shape": [
185
+ 1
186
+ ],
187
+ "names": null
188
+ },
189
+ "timestamp": {
190
+ "dtype": "float32",
191
+ "shape": [
192
+ 1
193
+ ],
194
+ "names": null
195
+ },
196
+ "next.done": {
197
+ "dtype": "bool",
198
+ "shape": [
199
+ 1
200
+ ],
201
+ "names": null
202
+ },
203
+ "index": {
204
+ "dtype": "int64",
205
+ "shape": [
206
+ 1
207
+ ],
208
+ "names": null
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+ },
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+ "task_index": {
211
+ "dtype": "int64",
212
+ "shape": [
213
+ 1
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+ ],
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+ "names": null
216
  }
217
  }
218
  }
219
+ ```
220
+
221
+
222
+ ## Citation
223
+
224
+ **BibTeX:**
225
+
226
+ ```bibtex
227
+ @inproceedings{fu2024mobile,
228
+ author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
229
+ title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation},
230
+ booktitle = {arXiv},
231
+ year = {2024},
232
+ }
233
  ```