aloha_sim_transfer_cube_scripted

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",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"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": {
"observation.images.top": {
"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"
]
},
"fps": 50
},
"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"
]
},
"fps": 50
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 50
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null,
"fps": 50
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

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

## 数据集说明

- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可证：** apache-2.0

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"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": {
"observation.images.top": {
"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"
]
},
"fps": 50
},
"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"
]
},
"fps": 50
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 50
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null,
"fps": 50
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 50
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}

## 引用

**BibTeX格式：**

bibtex
[需补充更多信息]