yhong96/aloha_sim_insertion_scripted_image_drag

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- aloha
- drag
configs:
- config_name: default
data_files: data/*/*.parquet
---

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": "v2.1",
"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": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"vlm_embeddings": {
"dtype": "float16",
"shape": [
64,
256
],
"names": [
"vlm_embeddings"
]
},
"state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"state"
]
},
"base_actions": {
"dtype": "float32",
"shape": [
50,
14
],
"names": [
"base_actions"
]
},
"residual_actions": {
"dtype": "float32",
"shape": [
50,
14
],
"names": [
"residual_actions"
]
},
"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]
```

license: apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
- lerobot
- aloha
- 拖拽（drag）
配置项：
- 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。

## 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]：
json
{
"代码库版本": "v2.1",
"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,
"总分块数": 1,
"分块大小": 1000,
"帧率": 50,
"数据集划分": {
"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",
"数据特征": {
"视觉语言模型嵌入（VLM Embeddings）": {
"数据类型": "float16",
"形状": [
64,
256
],
"字段名": [
"vlm_embeddings"
]
},
"状态（state）": {
"数据类型": "float32",
"形状": [
14
],
"字段名": [
"state"
]
},
"基础动作（base_actions）": {
"数据类型": "float32",
"形状": [
50,
14
],
"字段名": [
"base_actions"
]
},
"残差动作（residual_actions）": {
"数据类型": "float32",
"形状": [
50,
14
],
"字段名": [
"residual_actions"
]
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [
1
],
"字段名": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [
1
],
"字段名": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [
1
],
"字段名": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [
1
],
"字段名": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [
1
],
"字段名": null
}
}
}

## 引用
**BibTeX 格式引用**：
bibtex
[需补充更多信息]