| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - aloha |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** https://tonyzhaozh.github.io/aloha/ |
| - **Paper:** https://arxiv.org/abs/2304.13705 |
| - **License:** mit |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v2.0", |
| "robot_type": "aloha", |
| "total_episodes": 50, |
| "total_frames": 20000, |
| "total_tasks": 1, |
| "total_videos": 200, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 50, |
| "splits": { |
| "train": "0:50" |
| }, |
| "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.images.cam_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_low": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "left_waist", |
| "left_shoulder", |
| "left_elbow", |
| "left_forearm_roll", |
| "left_wrist_angle", |
| "left_wrist_rotate", |
| "left_gripper", |
| "right_waist", |
| "right_shoulder", |
| "right_elbow", |
| "right_forearm_roll", |
| "right_wrist_angle", |
| "right_wrist_rotate", |
| "right_gripper" |
| ] |
| } |
| }, |
| "observation.effort": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "left_waist", |
| "left_shoulder", |
| "left_elbow", |
| "left_forearm_roll", |
| "left_wrist_angle", |
| "left_wrist_rotate", |
| "left_gripper", |
| "right_waist", |
| "right_shoulder", |
| "right_elbow", |
| "right_forearm_roll", |
| "right_wrist_angle", |
| "right_wrist_rotate", |
| "right_gripper" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": { |
| "motors": [ |
| "left_waist", |
| "left_shoulder", |
| "left_elbow", |
| "left_forearm_roll", |
| "left_wrist_angle", |
| "left_wrist_rotate", |
| "left_gripper", |
| "right_waist", |
| "right_shoulder", |
| "right_elbow", |
| "right_forearm_roll", |
| "right_wrist_angle", |
| "right_wrist_rotate", |
| "right_gripper" |
| ] |
| } |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| @article{Zhao2023LearningFB, |
| title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware}, |
| author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn}, |
| journal={RSS}, |
| year={2023}, |
| volume={abs/2304.13705}, |
| url={https://arxiv.org/abs/2304.13705} |
| } |
| ``` |
