shivakanthsujit/aloha_sim_demos

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- aloha
- sim
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": 10,
"total_frames": 2568,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:10"
},
"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.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"
]
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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.full_state": {
"dtype": "float32",
"shape": [
21
]
},
"reward": {
"dtype": "float32",
"shape": [
1
]
},
"success": {
"dtype": "bool",
"shape": [
1
]
},
"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
- aloha
- 仿真（sim）
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。

## 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": 10,
"总帧数": 2568,
"总任务数": 1,
"总视频数": 30,
"总块数": 1,
"块大小": 1000,
"帧率": 50,
"数据集划分": {
"训练集": "0:10"
},
"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",
"特征": {
"观测.状态": {
"数据类型": "float32",
"形状": [
14
],
"特征名": {
"电机": [
"左腰关节",
"左肩关节",
"左肘关节",
"左前臂旋转",
"左腕关节角度",
"左腕关节旋转",
"左手爪",
"右腰关节",
"右肩关节",
"右肘关节",
"右前臂旋转",
"右腕关节角度",
"右腕关节旋转",
"右手爪"
]
}
},
"动作": {
"数据类型": "float32",
"形状": [
14
],
"特征名": {
"电机": [
"左腰关节",
"左肩关节",
"左肘关节",
"左前臂旋转",
"左腕关节角度",
"左腕关节旋转",
"左手爪",
"右腰关节",
"右肩关节",
"右肘关节",
"右前臂旋转",
"右腕关节角度",
"右腕关节旋转",
"右手爪"
]
}
},
"观测.顶部图像": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"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.左腕图像": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"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.右腕图像": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"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.完整状态": {
"数据类型": "float32",
"形状": [
21
]
},
"奖励": {
"数据类型": "float32",
"形状": [
1
]
},
"成功标识": {
"数据类型": "bool",
"形状": [
1
]
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名": null
},
"索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名": null
}
}
}

## 引用

**BibTeX格式**:
bibtex
[需补充更多信息]