ZhaohongLee/aloha_mobile_cabinet

---
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).

## 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": 85,
"total_frames": 127500,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:85"
},
"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
}
},
"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_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"
]
},
"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
},
"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]
```

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
---

本数据集由[LeRobot（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
{
"代码库版本": "v3.0",
"机器人类型": "Aloha",
"总回合数": 85,
"总帧数": 127500,
"总任务数": 1,
"分块大小": 1000,
"帧率": 50,
"划分方式": {
"训练集": "0:85"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"观测数据.图像.顶置摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"视频非深度图": false,
"无音频轨道": false
}
},
"观测数据.图像.左手腕摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"视频非深度图": false,
"无音频轨道": false
}
},
"观测数据.图像.右手腕摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 50.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"视频非深度图": false,
"无音频轨道": false
}
},
"观测数据.关节状态": {
"数据类型": "float32",
"形状": [
14
],
"维度名称": {
"电机": [
"左侧腰部",
"左侧肩部",
"左侧肘部",
"左侧前臂旋转",
"左侧腕关节角度",
"左侧腕关节旋转",
"左侧夹爪",
"右侧腰部",
"右侧肩部",
"右侧肘部",
"右侧前臂旋转",
"右侧腕关节角度",
"右侧腕关节旋转",
"右侧夹爪"
]
},
"帧率": 50
},
"观测数据.力矩": {
"数据类型": "float32",
"形状": [
14
],
"维度名称": {
"电机": [
"左侧腰部",
"左侧肩部",
"左侧肘部",
"左侧前臂旋转",
"左侧腕关节角度",
"左侧腕关节旋转",
"左侧夹爪",
"右侧腰部",
"右侧肩部",
"右侧肘部",
"右侧前臂旋转",
"右侧腕关节角度",
"右侧腕关节旋转",
"右侧夹爪"
]
},
"帧率": 50
},
"动作指令": {
"数据类型": "float32",
"形状": [
14
],
"维度名称": {
"电机": [
"左侧腰部",
"左侧肩部",
"左侧肘部",
"左侧前臂旋转",
"左侧腕关节角度",
"左侧腕关节旋转",
"左侧夹爪",
"右侧腰部",
"右侧肩部",
"右侧肘部",
"右侧前臂旋转",
"右侧腕关节角度",
"右侧腕关节旋转",
"右侧夹爪"
]
},
"帧率": 50
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null,
"帧率": 50
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null,
"帧率": 50
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null,
"帧率": 50
},
"下一帧结束标记": {
"数据类型": "布尔值",
"形状": [
1
],
"维度名称": null,
"帧率": 50
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null,
"帧率": 50
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null,
"帧率": 50
}
},
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 500
}

## 引用

**BibTeX格式引用：**
bibtex
[需补充更多信息]