Datasets:
license: apache-2.0 | |
task_categories: | |
- robotics | |
tags: | |
- LeRobot | |
- openx | |
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": "v3.0", | |
"robot_type": "aloha", | |
"total_episodes": 100, | |
"total_frames": 45000, | |
"total_tasks": 0, | |
"chunks_size": 1000, | |
"data_files_size_in_mb": 100, | |
"video_files_size_in_mb": 500, | |
"fps": 50.0, | |
"splits": { | |
"train": "0:100" | |
}, | |
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
"features": { | |
"observation.images.top": { | |
"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" | |
] | |
}, | |
"fps": 50.0 | |
}, | |
"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" | |
] | |
}, | |
"fps": 50.0 | |
}, | |
"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, | |
"fps": 50.0 | |
}, | |
"index": { | |
"dtype": "int64", | |
"shape": [ | |
1 | |
], | |
"names": null | |
}, | |
"task_index": { | |
"dtype": "int64", | |
"shape": [ | |
1 | |
], | |
"names": null | |
} | |
} | |
} | |
``` | |
## Citation | |
**BibTeX:** | |
```bibtex | |
[More Information Needed] | |
``` |