Datasets:
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| - aloha | |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). | |
| [meta/info.json](meta/info.json) | |
| ```json | |
| { | |
| "codebase_version": "v2.0", | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "robot_type": "aloha", | |
| "total_episodes": 50, | |
| "total_frames": 25000, | |
| "total_tasks": 1, | |
| "total_videos": 50, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 50, | |
| "splits": { | |
| "train": "0:50" | |
| }, | |
| "keys": [ | |
| "observation.state", | |
| "action" | |
| ], | |
| "video_keys": [ | |
| "observation.images.top" | |
| ], | |
| "image_keys": [], | |
| "shapes": { | |
| "observation.state": 14, | |
| "action": 14, | |
| "observation.images.top": { | |
| "width": 640, | |
| "height": 480, | |
| "channels": 3 | |
| } | |
| }, | |
| "names": { | |
| "observation.state": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ], | |
| "action": [ | |
| "left_waist", | |
| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ] | |
| }, | |
| "videos": { | |
| "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "observation.images.top": { | |
| "video.fps": 50.0, | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| } | |
| } | |
| ``` |