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lerobot
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aloha_static_pro_pencil

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
ArXiv:
Tags:
LeRobot
aloha
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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": 25,
17
  "total_frames": 8750,
@@ -23,135 +37,219 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
23
  "splits": {
24
  "train": "0:25"
25
  },
26
- "keys": [
27
- "observation.state",
28
- "observation.effort",
29
- "action"
30
- ],
31
- "video_keys": [
32
- "observation.images.cam_high",
33
- "observation.images.cam_left_wrist",
34
- "observation.images.cam_low",
35
- "observation.images.cam_right_wrist"
36
- ],
37
- "image_keys": [],
38
- "shapes": {
39
- "observation.state": 14,
40
- "observation.effort": 14,
41
- "action": 14,
42
  "observation.images.cam_high": {
43
- "width": 640,
44
- "height": 480,
45
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
46
  },
47
  "observation.images.cam_left_wrist": {
48
- "width": 640,
49
- "height": 480,
50
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
51
  },
52
  "observation.images.cam_low": {
53
- "width": 640,
54
- "height": 480,
55
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
56
  },
57
  "observation.images.cam_right_wrist": {
58
- "width": 640,
59
- "height": 480,
60
- "channels": 3
61
- }
62
- },
63
- "names": {
64
- "observation.state": [
65
- "left_waist",
66
- "left_shoulder",
67
- "left_elbow",
68
- "left_forearm_roll",
69
- "left_wrist_angle",
70
- "left_wrist_rotate",
71
- "left_gripper",
72
- "right_waist",
73
- "right_shoulder",
74
- "right_elbow",
75
- "right_forearm_roll",
76
- "right_wrist_angle",
77
- "right_wrist_rotate",
78
- "right_gripper"
79
- ],
80
- "action": [
81
- "left_waist",
82
- "left_shoulder",
83
- "left_elbow",
84
- "left_forearm_roll",
85
- "left_wrist_angle",
86
- "left_wrist_rotate",
87
- "left_gripper",
88
- "right_waist",
89
- "right_shoulder",
90
- "right_elbow",
91
- "right_forearm_roll",
92
- "right_wrist_angle",
93
- "right_wrist_rotate",
94
- "right_gripper"
95
- ],
96
- "observation.effort": [
97
- "left_waist",
98
- "left_shoulder",
99
- "left_elbow",
100
- "left_forearm_roll",
101
- "left_wrist_angle",
102
- "left_wrist_rotate",
103
- "left_gripper",
104
- "right_waist",
105
- "right_shoulder",
106
- "right_elbow",
107
- "right_forearm_roll",
108
- "right_wrist_angle",
109
- "right_wrist_rotate",
110
- "right_gripper"
111
- ]
112
- },
113
- "videos": {
114
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
115
- "observation.images.cam_high": {
116
- "video.fps": 50.0,
117
- "video.width": 640,
118
- "video.height": 480,
119
- "video.channels": 3,
120
- "video.codec": "av1",
121
- "video.pix_fmt": "yuv420p",
122
- "video.is_depth_map": false,
123
- "has_audio": false
124
  },
125
- "observation.images.cam_left_wrist": {
126
- "video.fps": 50.0,
127
- "video.width": 640,
128
- "video.height": 480,
129
- "video.channels": 3,
130
- "video.codec": "av1",
131
- "video.pix_fmt": "yuv420p",
132
- "video.is_depth_map": false,
133
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
134
  },
135
- "observation.images.cam_low": {
136
- "video.fps": 50.0,
137
- "video.width": 640,
138
- "video.height": 480,
139
- "video.channels": 3,
140
- "video.codec": "av1",
141
- "video.pix_fmt": "yuv420p",
142
- "video.is_depth_map": false,
143
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
144
  },
145
- "observation.images.cam_right_wrist": {
146
- "video.fps": 50.0,
147
- "video.width": 640,
148
- "video.height": 480,
149
- "video.channels": 3,
150
- "video.codec": "av1",
151
- "video.pix_fmt": "yuv420p",
152
- "video.is_depth_map": false,
153
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
154
  }
155
  }
156
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
157
  ```
 
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/
20
+ - **Paper:** https://arxiv.org/abs/2304.13705
21
+ - **License:** mit
22
+
23
+ ## Dataset Structure
24
+
25
+ [meta/info.json](meta/info.json):
26
  ```json
27
  {
28
  "codebase_version": "v2.0",
 
29
  "robot_type": "aloha",
30
  "total_episodes": 25,
31
  "total_frames": 8750,
 
37
  "splits": {
38
  "train": "0:25"
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
+ "observation.effort": {
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
+ "action": {
172
+ "dtype": "float32",
173
+ "shape": [
174
+ 14
175
+ ],
176
+ "names": {
177
+ "motors": [
178
+ "left_waist",
179
+ "left_shoulder",
180
+ "left_elbow",
181
+ "left_forearm_roll",
182
+ "left_wrist_angle",
183
+ "left_wrist_rotate",
184
+ "left_gripper",
185
+ "right_waist",
186
+ "right_shoulder",
187
+ "right_elbow",
188
+ "right_forearm_roll",
189
+ "right_wrist_angle",
190
+ "right_wrist_rotate",
191
+ "right_gripper"
192
+ ]
193
+ }
194
+ },
195
+ "episode_index": {
196
+ "dtype": "int64",
197
+ "shape": [
198
+ 1
199
+ ],
200
+ "names": null
201
+ },
202
+ "frame_index": {
203
+ "dtype": "int64",
204
+ "shape": [
205
+ 1
206
+ ],
207
+ "names": null
208
+ },
209
+ "timestamp": {
210
+ "dtype": "float32",
211
+ "shape": [
212
+ 1
213
+ ],
214
+ "names": null
215
+ },
216
+ "next.done": {
217
+ "dtype": "bool",
218
+ "shape": [
219
+ 1
220
+ ],
221
+ "names": null
222
+ },
223
+ "index": {
224
+ "dtype": "int64",
225
+ "shape": [
226
+ 1
227
+ ],
228
+ "names": null
229
+ },
230
+ "task_index": {
231
+ "dtype": "int64",
232
+ "shape": [
233
+ 1
234
+ ],
235
+ "names": null
236
  }
237
  }
238
  }
239
+ ```
240
+
241
+
242
+ ## Citation
243
+
244
+ **BibTeX:**
245
+
246
+ ```bibtex
247
+ @article{Zhao2023LearningFB,
248
+ title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
249
+ author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
250
+ journal={RSS},
251
+ year={2023},
252
+ volume={abs/2304.13705},
253
+ url={https://arxiv.org/abs/2304.13705}
254
+ }
255
  ```