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--- |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- aloha |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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[meta/info.json](meta/info.json) |
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```json |
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{ |
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"codebase_version": "v2.0", |
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"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet", |
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"robot_type": "aloha", |
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"total_episodes": 100, |
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"total_frames": 60000, |
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"total_tasks": 1, |
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"fps": 50, |
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"splits": { |
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"train": "0:100" |
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}, |
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"keys": [ |
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"observation.state", |
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"observation.effort", |
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"action" |
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], |
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"video_keys": [ |
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"observation.images.cam_high", |
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"observation.images.cam_left_wrist", |
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"observation.images.cam_low", |
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"observation.images.cam_right_wrist" |
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], |
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"image_keys": [], |
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"shapes": { |
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"observation.state": 14, |
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"observation.effort": 14, |
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"action": 14, |
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"observation.images.cam_high": { |
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"width": 640, |
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"height": 480, |
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"channels": 3 |
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}, |
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"observation.images.cam_left_wrist": { |
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"width": 640, |
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"height": 480, |
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"channels": 3 |
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}, |
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"observation.images.cam_low": { |
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"width": 640, |
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"height": 480, |
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"channels": 3 |
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}, |
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"observation.images.cam_right_wrist": { |
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"width": 640, |
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"height": 480, |
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"channels": 3 |
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} |
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}, |
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"names": { |
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"observation.state": [ |
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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", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper", |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper" |
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], |
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"action": [ |
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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", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper", |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper" |
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], |
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"observation.effort": [ |
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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", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper", |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper" |
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] |
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}, |
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"videos": { |
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"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4", |
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"observation.images.cam_high": { |
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"video.fps": 50.0, |
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"video.width": 640, |
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"video.height": 480, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"observation.images.cam_left_wrist": { |
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"video.fps": 50.0, |
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"video.width": 640, |
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"video.height": 480, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"observation.images.cam_low": { |
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"video.fps": 50.0, |
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"video.width": 640, |
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"video.height": 480, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"observation.images.cam_right_wrist": { |
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"video.fps": 50.0, |
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"video.width": 640, |
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"video.height": 480, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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} |
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} |
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``` |
