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Datasets:
sriramsk
/
aloha_mug_eef

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
observation.right_eef_pose
sequence
action.right_eef_pose
sequence
timestamp
float32
0
25.8
frame_index
int64
0
1.55k
episode_index
int64
0
103
index
int64
0
132k
task_index
int64
0
0
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1.65
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 104,
    "total_frames": 132437,
    "total_tasks": 1,
    "total_videos": 104,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
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    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
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                "left_shoulder",
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                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
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                "right_wrist_rotate",
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        "observation.right_eef_pose": {
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            "names": [
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                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
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        },
        "action.right_eef_pose": {
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                "trans_0",
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                "gripper_articulation"
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        "observation.images.cam_kinect": {
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
21.9 MB
Size of the auto-converted Parquet files:
21.9 MB
Number of rows:
132,437