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Datasets:
lerobot
/
aloha_static_battery

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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1
  ---
 
2
  task_categories:
3
  - robotics
4
  tags:
5
  - LeRobot
6
- - aloha
 
 
7
  ---
 
8
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
9
 
10
- [meta/info.json](meta/info.json)
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
11
  ```json
12
  {
13
- "codebase_version": "v2.0",
14
- "data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
15
- "robot_type": "aloha",
16
  "total_episodes": 49,
17
  "total_frames": 29400,
18
  "total_tasks": 1,
 
19
  "fps": 50,
20
  "splits": {
21
  "train": "0:49"
22
  },
23
- "keys": [
24
- "observation.state",
25
- "action"
26
- ],
27
- "video_keys": [
28
- "observation.images.cam_high",
29
- "observation.images.cam_left_wrist",
30
- "observation.images.cam_low",
31
- "observation.images.cam_right_wrist"
32
- ],
33
- "image_keys": [],
34
- "shapes": {
35
- "observation.state": 14,
36
- "action": 14,
37
  "observation.images.cam_high": {
38
- "width": 640,
39
- "height": 480,
40
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
41
  },
42
  "observation.images.cam_left_wrist": {
43
- "width": 640,
44
- "height": 480,
45
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
46
  },
47
  "observation.images.cam_low": {
48
- "width": 640,
49
- "height": 480,
50
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
51
  },
52
  "observation.images.cam_right_wrist": {
53
- "width": 640,
54
- "height": 480,
55
- "channels": 3
56
- }
57
- },
58
- "names": {
59
- "observation.state": [
60
- "left_waist",
61
- "left_shoulder",
62
- "left_elbow",
63
- "left_forearm_roll",
64
- "left_wrist_angle",
65
- "left_wrist_rotate",
66
- "left_gripper",
67
- "right_waist",
68
- "right_shoulder",
69
- "right_elbow",
70
- "right_forearm_roll",
71
- "right_wrist_angle",
72
- "right_wrist_rotate",
73
- "right_gripper"
74
- ],
75
- "action": [
76
- "left_waist",
77
- "left_shoulder",
78
- "left_elbow",
79
- "left_forearm_roll",
80
- "left_wrist_angle",
81
- "left_wrist_rotate",
82
- "left_gripper",
83
- "right_waist",
84
- "right_shoulder",
85
- "right_elbow",
86
- "right_forearm_roll",
87
- "right_wrist_angle",
88
- "right_wrist_rotate",
89
- "right_gripper"
90
- ]
91
- },
92
- "videos": {
93
- "videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
94
- "observation.images.cam_high": {
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- "video.fps": 50.0,
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- "video.width": 640,
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- "video.height": 480,
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- "video.channels": 3,
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- "video.codec": "av1",
100
- "video.pix_fmt": "yuv420p",
101
- "video.is_depth_map": false,
102
- "has_audio": false
103
  },
104
- "observation.images.cam_left_wrist": {
105
- "video.fps": 50.0,
106
- "video.width": 640,
107
- "video.height": 480,
108
- "video.channels": 3,
109
- "video.codec": "av1",
110
- "video.pix_fmt": "yuv420p",
111
- "video.is_depth_map": false,
112
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
113
  },
114
- "observation.images.cam_low": {
115
- "video.fps": 50.0,
116
- "video.width": 640,
117
- "video.height": 480,
118
- "video.channels": 3,
119
- "video.codec": "av1",
120
- "video.pix_fmt": "yuv420p",
121
- "video.is_depth_map": false,
122
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
123
  },
124
- "observation.images.cam_right_wrist": {
125
- "video.fps": 50.0,
126
- "video.width": 640,
127
- "video.height": 480,
128
- "video.channels": 3,
129
- "video.codec": "av1",
130
- "video.pix_fmt": "yuv420p",
131
- "video.is_depth_map": false,
132
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
133
  }
134
- }
 
 
135
  }
 
 
 
 
 
 
 
 
 
136
  ```
 
1
  ---
2
+ license: apache-2.0
3
  task_categories:
4
  - robotics
5
  tags:
6
  - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
  ---
11
+
12
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
 
14
+
15
+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=lerobot/aloha_static_battery">
16
+ <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
17
+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
18
+ </a>
19
+
20
+
21
+ ## Dataset Description
22
+
23
+
24
+
25
+ - **Homepage:** [More Information Needed]
26
+ - **Paper:** [More Information Needed]
27
+ - **License:** apache-2.0
28
+
29
+ ## Dataset Structure
30
+
31
+ [meta/info.json](meta/info.json):
32
  ```json
33
  {
34
+ "codebase_version": "v3.0",
35
+ "robot_type": "unknown",
 
36
  "total_episodes": 49,
37
  "total_frames": 29400,
38
  "total_tasks": 1,
39
+ "chunks_size": 1000,
40
  "fps": 50,
41
  "splits": {
42
  "train": "0:49"
43
  },
44
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
45
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
46
+ "features": {
 
 
 
 
 
 
 
 
 
 
 
47
  "observation.images.cam_high": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "video_info": {
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 50,
64
+ "has_audio": false
65
+ }
66
  },
67
  "observation.images.cam_left_wrist": {
68
+ "dtype": "video",
69
+ "shape": [
70
+ 480,
71
+ 640,
72
+ 3
73
+ ],
74
+ "names": [
75
+ "height",
76
+ "width",
77
+ "channels"
78
+ ],
79
+ "video_info": {
80
+ "video.codec": "av1",
81
+ "video.pix_fmt": "yuv420p",
82
+ "video.is_depth_map": false,
83
+ "video.fps": 50,
84
+ "has_audio": false
85
+ }
86
  },
87
  "observation.images.cam_low": {
88
+ "dtype": "video",
89
+ "shape": [
90
+ 480,
91
+ 640,
92
+ 3
93
+ ],
94
+ "names": [
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+ "height",
96
+ "width",
97
+ "channels"
98
+ ],
99
+ "video_info": {
100
+ "video.codec": "av1",
101
+ "video.pix_fmt": "yuv420p",
102
+ "video.is_depth_map": false,
103
+ "video.fps": 50,
104
+ "has_audio": false
105
+ }
106
  },
107
  "observation.images.cam_right_wrist": {
108
+ "dtype": "video",
109
+ "shape": [
110
+ 480,
111
+ 640,
112
+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
117
+ "channels"
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+ ],
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+ "video_info": {
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+ "video.codec": "av1",
121
+ "video.pix_fmt": "yuv420p",
122
+ "video.is_depth_map": false,
123
+ "video.fps": 50,
124
+ "has_audio": false
125
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
126
  },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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+ "motor_0",
135
+ "motor_1",
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+ "motor_2",
137
+ "motor_3",
138
+ "motor_4",
139
+ "motor_5",
140
+ "motor_6",
141
+ "motor_7",
142
+ "motor_8",
143
+ "motor_9",
144
+ "motor_10",
145
+ "motor_11",
146
+ "motor_12",
147
+ "motor_13"
148
+ ]
149
+ },
150
+ "fps": 50
151
  },
152
+ "action": {
153
+ "dtype": "float32",
154
+ "shape": [
155
+ 14
156
+ ],
157
+ "names": {
158
+ "motors": [
159
+ "motor_0",
160
+ "motor_1",
161
+ "motor_2",
162
+ "motor_3",
163
+ "motor_4",
164
+ "motor_5",
165
+ "motor_6",
166
+ "motor_7",
167
+ "motor_8",
168
+ "motor_9",
169
+ "motor_10",
170
+ "motor_11",
171
+ "motor_12",
172
+ "motor_13"
173
+ ]
174
+ },
175
+ "fps": 50
176
  },
177
+ "episode_index": {
178
+ "dtype": "int64",
179
+ "shape": [
180
+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ },
193
+ "timestamp": {
194
+ "dtype": "float32",
195
+ "shape": [
196
+ 1
197
+ ],
198
+ "names": null,
199
+ "fps": 50
200
+ },
201
+ "next.done": {
202
+ "dtype": "bool",
203
+ "shape": [
204
+ 1
205
+ ],
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+ "names": null,
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+ "fps": 50
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+ },
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+ "index": {
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+ "dtype": "int64",
211
+ "shape": [
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+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ },
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+ "task_index": {
218
+ "dtype": "int64",
219
+ "shape": [
220
+ 1
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+ ],
222
+ "names": null,
223
+ "fps": 50
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  }
225
+ },
226
+ "data_files_size_in_mb": 100,
227
+ "video_files_size_in_mb": 200
228
  }
229
+ ```
230
+
231
+
232
+ ## Citation
233
+
234
+ **BibTeX:**
235
+
236
+ ```bibtex
237
+ [More Information Needed]
238
  ```