metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "aloha",
"total_episodes": 147,
"total_frames": 198846,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:147"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"action_qpos_0",
"action_qpos_1",
"action_qpos_2",
"action_qpos_3",
"action_qpos_4",
"action_qpos_5",
"action_qpos_6",
"action_qpos_8",
"action_qpos_9",
"action_qpos_10",
"action_qpos_11",
"action_qpos_12",
"action_qpos_13",
"action_qpos_14"
]
},
"observation.world_state": {
"dtype": "float32",
"shape": [
86
],
"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",
"qpos_14",
"qpos_15",
"qpos_16",
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"qpos_18",
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"qpos_56",
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"qpos_61",
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"qpos_63",
"qpos_64",
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"qpos_73",
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"qpos_77",
"qpos_78",
"qpos_79",
"qpos_80",
"qpos_81",
"qpos_82",
"qpos_83",
"qpos_84",
"qpos_85"
]
},
"observation.qvel": {
"dtype": "float32",
"shape": [
76
],
"names": [
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"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",
"qvel_14",
"qvel_15",
"qvel_16",
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"qvel_18",
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"qvel_21",
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"qvel_23",
"qvel_24",
"qvel_25",
"qvel_26",
"qvel_27",
"qvel_28",
"qvel_29",
"qvel_30",
"qvel_31",
"qvel_32",
"qvel_33",
"qvel_34",
"qvel_35",
"qvel_36",
"qvel_37",
"qvel_38",
"qvel_39",
"qvel_40",
"qvel_41",
"qvel_42",
"qvel_43",
"qvel_44",
"qvel_45",
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"qvel_47",
"qvel_48",
"qvel_49",
"qvel_50",
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"qvel_53",
"qvel_54",
"qvel_55",
"qvel_56",
"qvel_57",
"qvel_58",
"qvel_59",
"qvel_60",
"qvel_61",
"qvel_62",
"qvel_63",
"qvel_64",
"qvel_65",
"qvel_66",
"qvel_67",
"qvel_68",
"qvel_69",
"qvel_70",
"qvel_71",
"qvel_72",
"qvel_73",
"qvel_74",
"qvel_75"
]
},
"actions": {
"dtype": "float32",
"shape": [
14
],
"names": [
"act_0",
"act_1",
"act_2",
"act_3",
"act_4",
"act_5",
"act_6",
"act_7",
"act_8",
"act_9",
"act_10",
"act_11",
"act_12",
"act_13"
]
},
"image.left": {
"dtype": "image",
"shape": [
256,
300,
3
],
"names": [
"h",
"w",
"c"
]
},
"image.right": {
"dtype": "image",
"shape": [
256,
300,
3
],
"names": [
"h",
"w",
"c"
]
},
"image.top": {
"dtype": "image",
"shape": [
256,
300,
3
],
"names": [
"h",
"w",
"c"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_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]