metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- aloha_box_into_pot
- rlds
- aloha
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 60,
"total_frames": 8586,
"total_tasks": 6,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:60"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.images.agentview_image": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
]
},
"observation.images.right_wrist_image": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"rgb"
]
},
"observation.images.left_wrist_image": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"rgb"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": {
"motors": [
"x",
"y",
"z",
"r1",
"r2",
"r3",
"r4",
"r5",
"r6",
"gripper",
"x",
"y",
"z",
"r1",
"r2",
"r3",
"r4",
"r5",
"r6",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
20
],
"names": {
"motors": [
"x",
"y",
"z",
"r1",
"r2",
"r3",
"r4",
"r5",
"r6",
"gripper",
"x",
"y",
"z",
"r1",
"r2",
"r3",
"r4",
"r5",
"r6",
"gripper"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]