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Datasets:
lerobot
/
aloha_static_candy

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
aloha
Libraries:
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Dask
License:
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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": 50,
17
  "total_frames": 35000,
@@ -23,117 +37,195 @@ 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.cam_high",
32
- "observation.images.cam_left_wrist",
33
- "observation.images.cam_low",
34
- "observation.images.cam_right_wrist"
35
- ],
36
- "image_keys": [],
37
- "shapes": {
38
- "observation.state": 14,
39
- "action": 14,
40
  "observation.images.cam_high": {
41
- "width": 640,
42
- "height": 480,
43
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
44
  },
45
  "observation.images.cam_left_wrist": {
46
- "width": 640,
47
- "height": 480,
48
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
49
  },
50
  "observation.images.cam_low": {
51
- "width": 640,
52
- "height": 480,
53
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
54
  },
55
  "observation.images.cam_right_wrist": {
56
- "width": 640,
57
- "height": 480,
58
- "channels": 3
59
- }
60
- },
61
- "names": {
62
- "observation.state": [
63
- "left_waist",
64
- "left_shoulder",
65
- "left_elbow",
66
- "left_forearm_roll",
67
- "left_wrist_angle",
68
- "left_wrist_rotate",
69
- "left_gripper",
70
- "right_waist",
71
- "right_shoulder",
72
- "right_elbow",
73
- "right_forearm_roll",
74
- "right_wrist_angle",
75
- "right_wrist_rotate",
76
- "right_gripper"
77
- ],
78
- "action": [
79
- "left_waist",
80
- "left_shoulder",
81
- "left_elbow",
82
- "left_forearm_roll",
83
- "left_wrist_angle",
84
- "left_wrist_rotate",
85
- "left_gripper",
86
- "right_waist",
87
- "right_shoulder",
88
- "right_elbow",
89
- "right_forearm_roll",
90
- "right_wrist_angle",
91
- "right_wrist_rotate",
92
- "right_gripper"
93
- ]
94
- },
95
- "videos": {
96
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
97
- "observation.images.cam_high": {
98
- "video.fps": 50.0,
99
- "video.width": 640,
100
- "video.height": 480,
101
- "video.channels": 3,
102
- "video.codec": "av1",
103
- "video.pix_fmt": "yuv420p",
104
- "video.is_depth_map": false,
105
- "has_audio": false
106
  },
107
- "observation.images.cam_left_wrist": {
108
- "video.fps": 50.0,
109
- "video.width": 640,
110
- "video.height": 480,
111
- "video.channels": 3,
112
- "video.codec": "av1",
113
- "video.pix_fmt": "yuv420p",
114
- "video.is_depth_map": false,
115
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
116
  },
117
- "observation.images.cam_low": {
118
- "video.fps": 50.0,
119
- "video.width": 640,
120
- "video.height": 480,
121
- "video.channels": 3,
122
- "video.codec": "av1",
123
- "video.pix_fmt": "yuv420p",
124
- "video.is_depth_map": false,
125
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
126
  },
127
- "observation.images.cam_right_wrist": {
128
- "video.fps": 50.0,
129
- "video.width": 640,
130
- "video.height": 480,
131
- "video.channels": 3,
132
- "video.codec": "av1",
133
- "video.pix_fmt": "yuv420p",
134
- "video.is_depth_map": false,
135
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
136
  }
137
  }
138
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
139
  ```
 
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/
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+ - **Paper:** https://arxiv.org/abs/2304.13705
21
+ - **License:** mit
22
+
23
+ ## Dataset Structure
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+
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": 35000,
 
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.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_low": {
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.images.cam_right_wrist": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 480,
107
+ 640,
108
+ 3
109
+ ],
110
+ "names": [
111
+ "height",
112
+ "width",
113
+ "channel"
114
+ ],
115
+ "video_info": {
116
+ "video.fps": 50.0,
117
+ "video.codec": "av1",
118
+ "video.pix_fmt": "yuv420p",
119
+ "video.is_depth_map": false,
120
+ "has_audio": false
121
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
122
  },
123
+ "observation.state": {
124
+ "dtype": "float32",
125
+ "shape": [
126
+ 14
127
+ ],
128
+ "names": {
129
+ "motors": [
130
+ "left_waist",
131
+ "left_shoulder",
132
+ "left_elbow",
133
+ "left_forearm_roll",
134
+ "left_wrist_angle",
135
+ "left_wrist_rotate",
136
+ "left_gripper",
137
+ "right_waist",
138
+ "right_shoulder",
139
+ "right_elbow",
140
+ "right_forearm_roll",
141
+ "right_wrist_angle",
142
+ "right_wrist_rotate",
143
+ "right_gripper"
144
+ ]
145
+ }
146
  },
147
+ "action": {
148
+ "dtype": "float32",
149
+ "shape": [
150
+ 14
151
+ ],
152
+ "names": {
153
+ "motors": [
154
+ "left_waist",
155
+ "left_shoulder",
156
+ "left_elbow",
157
+ "left_forearm_roll",
158
+ "left_wrist_angle",
159
+ "left_wrist_rotate",
160
+ "left_gripper",
161
+ "right_waist",
162
+ "right_shoulder",
163
+ "right_elbow",
164
+ "right_forearm_roll",
165
+ "right_wrist_angle",
166
+ "right_wrist_rotate",
167
+ "right_gripper"
168
+ ]
169
+ }
170
  },
171
+ "episode_index": {
172
+ "dtype": "int64",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "names": null
177
+ },
178
+ "frame_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null
184
+ },
185
+ "timestamp": {
186
+ "dtype": "float32",
187
+ "shape": [
188
+ 1
189
+ ],
190
+ "names": null
191
+ },
192
+ "next.done": {
193
+ "dtype": "bool",
194
+ "shape": [
195
+ 1
196
+ ],
197
+ "names": null
198
+ },
199
+ "index": {
200
+ "dtype": "int64",
201
+ "shape": [
202
+ 1
203
+ ],
204
+ "names": null
205
+ },
206
+ "task_index": {
207
+ "dtype": "int64",
208
+ "shape": [
209
+ 1
210
+ ],
211
+ "names": null
212
  }
213
  }
214
  }
215
+ ```
216
+
217
+
218
+ ## Citation
219
+
220
+ **BibTeX:**
221
+
222
+ ```bibtex
223
+ @article{Zhao2023LearningFB,
224
+ title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
225
+ author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
226
+ journal={RSS},
227
+ year={2023},
228
+ volume={abs/2304.13705},
229
+ url={https://arxiv.org/abs/2304.13705}
230
+ }
231
  ```