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imstevenpmwork/
aloha_mobile_cabinet_v30

Name: aloha_mobile_cabinet_v30
Availability: InStock
LeRobot
apache-2.0
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This dataset was created using LeRobot.
Dataset Description

Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure

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": {
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            "shape": [
                480,
                640,
                3
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            "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": {
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            ],
            "names": [
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                "channel"
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            }
        },
        "observation.images.cam_right_wrist": {
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            ],
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                "channel"
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                "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"
                ]
            },
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        },
        "observation.effort": {
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                    "left_elbow",
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                    "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": {
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            "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": {
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            ],
            "names": null,
            "fps": 50
        },
        "frame_index": {
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            ],
            "names": null,
            "fps": 50
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null,
            "fps": 50
        },
        "next.done": {
            "dtype": "bool",
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            "names": null,
            "fps": 50
        },
        "index": {
            "dtype": "int64",
            "shape": [
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            "names": null,
            "fps": 50
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null,
            "fps": 50
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}
Citation

BibTeX:
[More Information Needed]
imstevenpmwork/aloha_mobile_cabinet_v30

Dataset Description

Dataset Structure

Citation

imstevenpmwork/
aloha_mobile_cabinet_v30
