aloha_sim_transfer_cube_human_image

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": 0,
"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": null,
"features": {
"observation.images.top": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"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开发构建。

## 数据集描述

- **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

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",
"总回合数": 50,
"总帧数": 20000,
"总任务数": 1,
"总视频数": 0,
"总数据块数": 1,
"单块数据大小": 1000,
"帧率（fps）": 50,
"数据集划分": {
"训练集": "0:50"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": null,
"特征项": {
"观测.顶部摄像头图像": {
"数据类型": "图像",
"张量形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测.关节状态": {
"数据类型": "float32",
"张量形状": [
14
],
"维度名称": {
"电机关节": [
"左腰关节",
"左肩关节",
"左肘关节",
"左前臂旋转",
"左腕关节俯仰角",
"左腕关节旋转",
"左夹爪",
"右腰关节",
"右肩关节",
"右肘关节",
"右前臂旋转",
"右腕关节俯仰角",
"右腕关节旋转",
"右夹爪"
]
}
},
"动作指令": {
"数据类型": "float32",
"张量形状": [
14
],
"维度名称": {
"电机关节": [
"左腰关节",
"左肩关节",
"左肘关节",
"左前臂旋转",
"左腕关节俯仰角",
"左腕关节旋转",
"左夹爪",
"右腰关节",
"右肩关节",
"右肘关节",
"右前臂旋转",
"右腕关节俯仰角",
"右腕关节旋转",
"右夹爪"
]
}
},
"回合索引": {
"数据类型": "int64",
"张量形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"张量形状": [
1
],
"维度名称": null
},
"时间戳": {
"数据类型": "float32",
"张量形状": [
1
],
"维度名称": null
},
"下一回合结束标记": {
"数据类型": "bool",
"张量形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"张量形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"张量形状": [
1
],
"维度名称": null
}
}
}

## 引用

**BibTeX格式引用：**
bibtex
@article{Zhao2023LearningFB,
title={基于低成本硬件的细粒度双边操作学习},
author={Tony Zhao, Vikash Kumar, Sergey Levine, Chelsea Finn},
journal={RSS},
year={2023},
volume={abs/2304.13705},
url={https://arxiv.org/abs/2304.13705}
}