aloha_static_candy

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": 35000,
"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"
]
}
},
"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

## 数据集结构
元数据文件`meta/info.json`内容如下：
json
{
"代码库版本": "v2.0",
"机器人类型": "aloha",
"总轨迹数": 50,
"总帧数": 35000,
"总任务数": 1,
"总视频数": 200,
"总分块数": 1,
"单分块大小": 1000,
"帧率": 50,
"数据集划分": {
"训练集": "0:50"
},
"数据文件路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征字段": {
"观测.图像.顶置摄像头（cam_high）": {
"数据类型": "video",
"维度形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.左腕摄像头（cam_left_wrist）": {
"数据类型": "video",
"维度形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.下置摄像头（cam_low）": {
"数据类型": "video",
"维度形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.右腕摄像头（cam_right_wrist）": {
"数据类型": "video",
"维度形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测.状态": {
"数据类型": "float32",
"维度形状": [14],
"维度名称": {
"电机": ["左腰部关节", "左肩部关节", "左肘部关节", "左前臂旋转关节", "左腕部角度关节", "左腕部旋转关节", "左夹持器", "右腰部关节", "右肩部关节", "右肘部关节", "右前臂旋转关节", "右腕部角度关节", "右腕部旋转关节", "右夹持器"]
}
},
"动作": {
"数据类型": "float32",
"维度形状": [14],
"维度名称": {
"电机": ["左腰部关节", "左肩部关节", "左肘部关节", "左前臂旋转关节", "左腕部角度关节", "左腕部旋转关节", "左夹持器", "右腰部关节", "右肩部关节", "右肘部关节", "右前臂旋转关节", "右腕部角度关节", "右腕部旋转关节", "右夹持器"]
}
},
"轨迹索引": {
"数据类型": "int64",
"维度形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"维度形状": [1],
"维度名称": null
},
"时间戳": {
"数据类型": "float32",
"维度形状": [1],
"维度名称": null
},
"下一帧终止标记": {
"数据类型": "bool",
"维度形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"维度形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"维度形状": [1],
"维度名称": null
}
}
}

## 引用格式
**BibTeX引用：**
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（Robotics: Science and Systems）},
year={2023},
volume={abs/2304.13705},
url={https://arxiv.org/abs/2304.13705}
}