ASet97/augmented-aloha-episodes-10-color-jitter-gaussian-noise

--- license: mit task_categories: - robotics tags: - LeRobot - aloha configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description - **Git Repo:** https://github.com/AlexanderOJS29/Lerobot_Data_Augmentation/tree/main - **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} } ```许可证：MIT许可证 任务类别： - 机器人学 标签： - LeRobot（LeRobot） - Aloha（Aloha） 配置项： - 配置名称：default 数据文件：data/*/*.parquet 本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)框架开发完成。 ## 数据集说明 - **代码仓库**：https://github.com/AlexanderOJS29/Lerobot_Data_Augmentation/tree/main - **项目主页**：https://tonyzhaozh.github.io/aloha/ - **相关论文**：https://arxiv.org/abs/2304.13705 - **许可证**：MIT许可证 ## 数据集结构 [meta/info.json](meta/info.json): 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": 200, "总数据块数": 1, "单数据块大小": 1000, "帧率": 50, "数据集划分": { "训练集": "0:50" }, "数据文件路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频文件路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "观测数据.图像.顶置摄像头": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "视频信息": { "视频帧率": 50.0, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测数据.图像.左手腕摄像头": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "视频信息": { "视频帧率": 50.0, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测数据.图像.底部摄像头": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "视频信息": { "视频帧率": 50.0, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测数据.图像.右手腕摄像头": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "视频信息": { "视频帧率": 50.0, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测数据.关节状态": { "数据类型": "float32", "数据形状": [ 14 ], "维度名称": { "电机": [ "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" ] } }, "动作指令": { "数据类型": "float32", "数据形状": [ 14 ], "维度名称": { "电机": [ "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" ] } }, "回合索引": { "数据类型": "int64", "数据形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "数据形状": [ 1 ], "维度名称": null }, "时间戳": { "数据类型": "float32", "数据形状": [ 1 ], "维度名称": null }, "下一回合结束标记": { "数据类型": "bool", "数据形状": [ 1 ], "维度名称": null }, "全局索引": { "数据类型": "int64", "数据形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "数据形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX格式引用：** bibtex @article{Zhao2023LearningFB, title={基于低成本硬件实现精细化双边操作}, 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} }