hedemil/aloha_mobile_mirror

--- 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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hedemil/aloha_mobile_mirror"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": 6, "total_frames": 9000, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 50, "splits": { "train": "0:6" }, "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.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 }, "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "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 }, "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "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 }, "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "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 }, "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" ] }, "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 }, "next.done": { "dtype": "bool", "shape": [ 1 ], "names": null, "fps": 50 }, "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] ```--- 许可证：apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hedemil/aloha_mobile_mirror"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集描述 - **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 { "代码库版本": "v3.0", "机器人类型": "aloha", "总任务回合数": 6, "总帧数": 9000, "总任务数": 1, "数据分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 50, "数据集划分": { "训练集": "0:6" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "观测.图像.cam_high": { "数据类型": "视频", "尺寸": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "视频信息": { "视频.帧率": 50.0, "视频.编解码器": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编解码器": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 50, "视频.通道数": 3, "是否包含音频": false } }, "观测.图像.cam_left_wrist": { "数据类型": "视频", "尺寸": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "视频信息": { "视频.帧率": 50.0, "视频.编解码器": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编解码器": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 50, "视频.通道数": 3, "是否包含音频": false } }, "观测.图像.cam_right_wrist": { "数据类型": "视频", "尺寸": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "视频信息": { "视频.帧率": 50.0, "视频.编解码器": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编解码器": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 50, "视频.通道数": 3, "是否包含音频": false } }, "观测.状态": { "数据类型": "float32", "尺寸": [ 14 ], "维度名称": { "电机关节": [ "左腰部关节", "左肩部关节", "左肘部关节", "左前臂旋转关节", "左腕关节角度", "左腕关节旋转", "左手爪", "右腰部关节", "右肩部关节", "右肘部关节", "右前臂旋转关节", "右腕关节角度", "右腕关节旋转", "右手爪" ] }, "帧率": 50 }, "观测.力矩": { "数据类型": "float32", "尺寸": [ 14 ], "维度名称": { "电机关节": [ "左腰部关节", "左肩部关节", "左肘部关节", "左前臂旋转关节", "左腕关节角度", "左腕关节旋转", "左手爪", "右腰部关节", "右肩部关节", "右肘部关节", "右前臂旋转关节", "右腕关节角度", "右腕关节旋转", "右手爪" ] }, "帧率": 50 }, "动作": { "数据类型": "float32", "尺寸": [ 14 ], "维度名称": { "电机关节": [ "左腰部关节", "左肩部关节", "左肘部关节", "左前臂旋转关节", "左腕关节角度", "左腕关节旋转", "左手爪", "右腰部关节", "右肩部关节", "右肘部关节", "右前臂旋转关节", "右腕关节角度", "右腕关节旋转", "右手爪" ] }, "帧率": 50 }, "下一回合结束标记": { "数据类型": "bool", "尺寸": [ 1 ], "维度名称": null, "帧率": 50 }, "时间戳": { "数据类型": "float32", "尺寸": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度名称": null }, "回合索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度名称": null }, "样本索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度名称": null } } } ## 引用信息 **BibTeX格式引用：** bibtex [需补充更多信息]