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lerobot
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aloha_sim_insertion_human

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
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10K - 100K
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Tags:
LeRobot
aloha
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@@ -1,17 +1,31 @@
1
  ---
 
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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/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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  "robot_type": "aloha",
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  "total_episodes": 50,
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  "total_frames": 25000,
@@ -23,69 +37,135 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "splits": {
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  "train": "0:50"
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  },
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- "keys": [
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- "observation.state",
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- "action"
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- ],
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- "video_keys": [
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- "observation.images.top"
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- ],
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- "image_keys": [],
34
- "shapes": {
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- "observation.state": 14,
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- "action": 14,
37
- "observation.images.top": {
38
- "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",
66
- "left_wrist_rotate",
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- "left_gripper",
68
- "right_waist",
69
- "right_shoulder",
70
- "right_elbow",
71
- "right_forearm_roll",
72
- "right_wrist_angle",
73
- "right_wrist_rotate",
74
- "right_gripper"
75
- ]
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- },
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- "videos": {
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- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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  "observation.images.top": {
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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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  ```
 
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  ---
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+ license: mit
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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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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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  ---
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+
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  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** https://tonyzhaozh.github.io/aloha/
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+ - **Paper:** https://arxiv.org/abs/2304.13705
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+ - **License:** mit
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+
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+ ## Dataset Structure
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+
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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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  "robot_type": "aloha",
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  "total_episodes": 50,
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  "total_frames": 25000,
 
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  "splits": {
38
  "train": "0:50"
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  },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "observation.images.top": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "video_info": {
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+ "video.fps": 50.0,
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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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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_waist",
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+ "left_shoulder",
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+ "left_elbow",
73
+ "left_forearm_roll",
74
+ "left_wrist_angle",
75
+ "left_wrist_rotate",
76
+ "left_gripper",
77
+ "right_waist",
78
+ "right_shoulder",
79
+ "right_elbow",
80
+ "right_forearm_roll",
81
+ "right_wrist_angle",
82
+ "right_wrist_rotate",
83
+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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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",
98
+ "left_wrist_angle",
99
+ "left_wrist_rotate",
100
+ "left_gripper",
101
+ "right_waist",
102
+ "right_shoulder",
103
+ "right_elbow",
104
+ "right_forearm_roll",
105
+ "right_wrist_angle",
106
+ "right_wrist_rotate",
107
+ "right_gripper"
108
+ ]
109
+ }
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
119
+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
129
+ ],
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+ "names": null
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+ },
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+ "next.done": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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  }
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  }
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  }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ @article{Zhao2023LearningFB,
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+ title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
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+ author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
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+ journal={RSS},
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+ year={2023},
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+ volume={abs/2304.13705},
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+ url={https://arxiv.org/abs/2304.13705}
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+ }
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  ```