aloha_mobile_elevator

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** https://mobile-aloha.github.io/
- **Paper:** https://arxiv.org/abs/2401.02117
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 20,
"total_frames": 45000,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:20"
},
"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_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
@inproceedings{fu2024mobile,
author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation},
booktitle = {arXiv},
year = {2024},
}
```

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

## 数据集说明

- **主页**：https://mobile-aloha.github.io/
- **论文**：https://arxiv.org/abs/2401.02117
- **许可证**：MIT许可证

## 数据集结构

元数据文件为[meta/info.json](meta/info.json)，其内容如下：
json
{
"代码库版本": "v2.0",
"机器人类型": "aloha",
"总回合数": 20,
"总帧数": 45000,
"总任务数": 1,
"总视频数": 60,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 50,
"数据集划分": {
"训练集": "0:20"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测.图像.高视角相机": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频.帧率": 50.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.左腕相机": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频.帧率": 50.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.右腕相机": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频.帧率": 50.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"是否含音频": false
}
},
"观测.状态": {
"数据类型": "float32（32位浮点型）",
"形状": [
14
],
"命名": {
"电机": [
"左侧腰部关节",
"左侧肩部关节",
"左侧肘部关节",
"左侧前臂旋转关节",
"左侧腕部角度关节",
"左侧腕部旋转关节",
"左侧夹爪",
"右侧腰部关节",
"右侧肩部关节",
"右侧肘部关节",
"右侧前臂旋转关节",
"右侧腕部角度关节",
"右侧腕部旋转关节",
"右侧夹爪"
]
}
},
"观测.出力": {
"数据类型": "float32（32位浮点型）",
"形状": [
14
],
"命名": {
"电机": [
"左侧腰部关节",
"左侧肩部关节",
"左侧肘部关节",
"左侧前臂旋转关节",
"左侧腕部角度关节",
"左侧腕部旋转关节",
"左侧夹爪",
"右侧腰部关节",
"右侧肩部关节",
"右侧肘部关节",
"右侧前臂旋转关节",
"右侧腕部角度关节",
"右侧腕部旋转关节",
"右侧夹爪"
]
}
},
"动作": {
"数据类型": "float32（32位浮点型）",
"形状": [
14
],
"命名": {
"电机": [
"左侧腰部关节",
"左侧肩部关节",
"左侧肘部关节",
"左侧前臂旋转关节",
"左侧腕部角度关节",
"左侧腕部旋转关节",
"左侧夹爪",
"右侧腰部关节",
"右侧肩部关节",
"右侧肘部关节",
"右侧前臂旋转关节",
"右侧腕部角度关节",
"右侧腕部旋转关节",
"右侧夹爪"
]
}
},
"回合索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"命名": null
},
"帧索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"命名": null
},
"时间戳": {
"数据类型": "float32（32位浮点型）",
"形状": [
1
],
"命名": null
},
"下一回合结束标记": {
"数据类型": "bool（布尔型）",
"形状": [
1
],
"命名": null
},
"全局索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"命名": null
},
"任务索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"命名": null
}
}
}

## 引用

**BibTeX格式**：
bibtex
@inproceedings{fu2024mobile,
author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation},
booktitle = {arXiv},
year = {2024},
}