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sequence
observation.effort
sequence
observation.images.cam_high
imagewidth (px)
848
848
observation.images.cam_left_wrist
imagewidth (px)
848
848
observation.images.cam_right_wrist
imagewidth (px)
848
848
observation.state
sequence
observation.qvel
sequence
timestamp
float32
0
16
frame_index
int64
0
799
episode_index
int64
0
31
index
int64
0
21.4k
task_index
int64
0
0
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Task Definition

Pick one can with the right arm from the top box and place it on the bottom box. The operator tried to pick the cans such that the top camera can have a good view on them.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha-stationary",
    "total_episodes": 138,
    "total_frames": 92934,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:138"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                14
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            "names": [
                "action_0",
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                "action_2",
                "action_3",
                "action_4",
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                "action_6",
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                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13"
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        },
        "observation.effort": {
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            "names": [
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                "effort_4",
                "effort_5",
                "effort_6",
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                "effort_10",
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        },
        "observation.images.cam_high": {
            "dtype": "image",
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            "names": [
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        },
        "observation.images.cam_left_wrist": {
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            "names": [
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        },
        "observation.images.cam_right_wrist": {
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            "shape": [
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            "names": [
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        },
        "observation.state": {
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            "names": [
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                "qpos_2",
                "qpos_3",
                "qpos_4",
                "qpos_5",
                "qpos_6",
                "qpos_7",
                "qpos_8",
                "qpos_9",
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                "qpos_11",
                "qpos_12",
                "qpos_13"
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        },
        "observation.qvel": {
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            "names": [
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                "qvel_6",
                "qvel_7",
                "qvel_8",
                "qvel_9",
                "qvel_10",
                "qvel_11",
                "qvel_12",
                "qvel_13"
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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