aloha_static_cups_open

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": 20000,
"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)构建。

## 数据集说明
- **主页**：https://tonyzhaozh.github.io/aloha/
- **论文**：https://arxiv.org/abs/2304.13705
- **许可证**：MIT许可证

## 数据集结构
[meta/info.json]:
json
{
"代码库版本": "v2.0",
"机器人类型": "aloha",
"总回合（episode）数": 50,
"总帧（frame）数": 20000,
"总任务数": 1,
"总视频数": 200,
"总数据块（chunk）数": 1,
"数据块大小": 1000,
"帧率": 50,
"划分方式": {
"训练集": "0:50"
},
"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.顶置相机": {
"数据类型": "video",
"维度": [480, 640, 3],
"维度命名": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 50.0,
"视频编解码器（codec）": "av1",
"视频像素格式（pix_fmt）": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.左手腕相机": {
"数据类型": "video",
"维度": [480, 640, 3],
"维度命名": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 50.0,
"视频编解码器（codec）": "av1",
"视频像素格式（pix_fmt）": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.底置相机": {
"数据类型": "video",
"维度": [480, 640, 3],
"维度命名": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 50.0,
"视频编解码器（codec）": "av1",
"视频像素格式（pix_fmt）": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.右手腕相机": {
"数据类型": "video",
"维度": [480, 640, 3],
"维度命名": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 50.0,
"视频编解码器（codec）": "av1",
"视频像素格式（pix_fmt）": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.状态": {
"数据类型": "float32",
"维度": [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",
"维度": [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（episode）索引": {
"数据类型": "int64",
"维度": [1],
"命名": null
},
"帧（frame）索引": {
"数据类型": "int64",
"维度": [1],
"命名": null
},
"时间戳": {
"数据类型": "float32",
"维度": [1],
"命名": null
},
"下一回合结束标记": {
"数据类型": "bool",
"维度": [1],
"命名": null
},
"全局索引": {
"数据类型": "int64",
"维度": [1],
"命名": null
},
"任务索引": {
"数据类型": "int64",
"维度": [1],
"命名": null
}
}
}

## 引用
**BibTeX格式：**
bibtex
@article{Zhao2023LearningFB,
title={基于低成本硬件实现细粒度双边操作学习},
author={Tony Zhao、Vikash Kumar、Sergey Levine、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}
}