jasonwshim97/aloha_knob_task
收藏Hugging Face2026-04-17 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/jasonwshim97/aloha_knob_task
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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_follower_with_knob",
"total_episodes": 5,
"total_frames": 17961,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_waist.pos",
"left_shoulder.pos",
"left_elbow.pos",
"left_forearm_roll.pos",
"left_wrist_angle.pos",
"left_wrist_rotate.pos",
"left_gripper.pos",
"right_waist.pos",
"right_shoulder.pos",
"right_elbow.pos",
"right_forearm_roll.pos",
"right_wrist_angle.pos",
"right_wrist_rotate.pos",
"right_gripper.pos",
"knob_ud.pos",
"knob_lr.pos"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_waist.pos",
"left_shoulder.pos",
"left_elbow.pos",
"left_forearm_roll.pos",
"left_wrist_angle.pos",
"left_wrist_rotate.pos",
"left_gripper.pos",
"right_waist.pos",
"right_shoulder.pos",
"right_elbow.pos",
"right_forearm_roll.pos",
"right_wrist_angle.pos",
"right_wrist_rotate.pos",
"right_gripper.pos",
"left_waist.vel",
"left_shoulder.vel",
"left_elbow.vel",
"left_forearm_roll.vel",
"left_wrist_angle.vel",
"left_wrist_rotate.vel",
"left_gripper.vel",
"right_waist.vel",
"right_shoulder.vel",
"right_elbow.vel",
"right_forearm_roll.vel",
"right_wrist_angle.vel",
"right_wrist_rotate.vel",
"right_gripper.vel",
"left_waist.cur",
"left_shoulder.cur",
"left_elbow.cur",
"left_forearm_roll.cur",
"left_wrist_angle.cur",
"left_wrist_rotate.cur",
"left_gripper.cur",
"right_waist.cur",
"right_shoulder.cur",
"right_elbow.cur",
"right_forearm_roll.cur",
"right_wrist_angle.cur",
"right_wrist_rotate.cur",
"right_gripper.cur",
"left_waist.pwm",
"left_shoulder.pwm",
"left_elbow.pwm",
"left_forearm_roll.pwm",
"left_wrist_angle.pwm",
"left_wrist_rotate.pwm",
"left_gripper.pwm",
"right_waist.pwm",
"right_shoulder.pwm",
"right_elbow.pwm",
"right_forearm_roll.pwm",
"right_wrist_angle.pwm",
"right_wrist_rotate.pwm",
"right_gripper.pwm",
"knob_ud.pos",
"knob_lr.pos"
],
"shape": [
58
]
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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:**
```bibtex
[More Information Needed]
```
提供机构：
jasonwshim97
