aloha_static_pingpong_test

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": 10,
"total_frames": 6000,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:10"
},
"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}
}
```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。

## 数据集说明

- **项目主页**：https://tonyzhaozh.github.io/aloha/
- **相关论文**：https://arxiv.org/abs/2304.13705
- **授权协议**：MIT协议

## 数据集结构

元数据文件`meta/info.json`内容如下：
json
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 10,
"total_frames": 6000,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:10"
},
"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": [
"高度",
"宽度",
"通道"
],
"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": [
"高度",
"宽度",
"通道"
],
"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": [
"高度",
"宽度",
"通道"
],
"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": [
"高度",
"宽度",
"通道"
],
"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": [
"左侧腰部",
"左侧肩部",
"左侧肘部",
"左侧前臂旋转",
"左侧腕部角度",
"左侧腕部旋转",
"左侧夹爪",
"右侧腰部",
"右侧肩部",
"右侧肘部",
"右侧前臂旋转",
"右侧腕部角度",
"右侧腕部旋转",
"右侧夹爪"
]
}
},
"observation.effort": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"左侧腰部",
"左侧肩部",
"左侧肘部",
"左侧前臂旋转",
"左侧腕部角度",
"左侧腕部旋转",
"左侧夹爪",
"右侧腰部",
"右侧肩部",
"右侧肘部",
"右侧前臂旋转",
"右侧腕部角度",
"右侧腕部旋转",
"右侧夹爪"
]
}
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"左侧腰部",
"左侧肩部",
"左侧肘部",
"左侧前臂旋转",
"左侧腕部角度",
"左侧腕部旋转",
"左侧夹爪",
"右侧腰部",
"右侧肩部",
"右侧肘部",
"右侧前臂旋转",
"右侧腕部角度",
"右侧腕部旋转",
"右侧夹爪"
]
}
},
"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
}
}
}

## 引用

**BibTeX格式：**
bibtex
@article{Zhao2023LearningFB,
title={基于低成本硬件的精细化双臂操作学习},
author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
journal={机器人科学与系统会议 (RSS)},
year={2023},
volume={abs/2304.13705},
url={https://arxiv.org/abs/2304.13705}
}