---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "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",
                "qpos_17",
                "qpos_18",
                "qpos_19",
                "qpos_20",
                "qpos_21",
                "qpos_22",
                "qpos_23",
                "qpos_24",
                "qpos_25",
                "qpos_26",
                "qpos_27",
                "qpos_28",
                "qpos_29",
                "qpos_30",
                "qpos_31",
                "qpos_32",
                "qpos_33",
                "qpos_34",
                "qpos_35",
                "qpos_36",
                "qpos_37",
                "qpos_38",
                "qpos_39",
                "qpos_40",
                "qpos_41",
                "qpos_42",
                "qpos_43",
                "qpos_44",
                "qpos_45",
                "qpos_46",
                "qpos_47",
                "qpos_48",
                "qpos_49",
                "qpos_50",
                "qpos_51",
                "qpos_52",
                "qpos_53",
                "qpos_54",
                "qpos_55",
                "qpos_56",
                "qpos_57",
                "qpos_58",
                "qpos_59",
                "qpos_60",
                "qpos_61",
                "qpos_62",
                "qpos_63",
                "qpos_64",
                "qpos_65",
                "qpos_66",
                "qpos_67",
                "qpos_68",
                "qpos_69",
                "qpos_70",
                "qpos_71",
                "qpos_72",
                "qpos_73",
                "qpos_74",
                "qpos_75",
                "qpos_76",
                "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": [
                "qvel_0",
                "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",
                "qvel_17",
                "qvel_18",
                "qvel_19",
                "qvel_20",
                "qvel_21",
                "qvel_22",
                "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",
                "qvel_46",
                "qvel_47",
                "qvel_48",
                "qvel_49",
                "qvel_50",
                "qvel_51",
                "qvel_52",
                "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:**

```bibtex
[More Information Needed]
```