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README.md
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---
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task_categories:
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- robotics
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tags:
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- LeRobot
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-
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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---
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+
license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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- aloha_solo
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.0",
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"robot_type": "aloha_solo",
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"total_episodes": 40,
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"total_frames": 17876,
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"total_tasks": 1,
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"total_videos": 80,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:40"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"observation.state": {
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"dtype": "float32",
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"shape": [
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9
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],
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"names": {
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"motors": [
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"waist",
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"shoulder",
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"shoulder_shadow",
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"elbow",
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"elbow_shadow",
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"forearm_roll",
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"wrist_angle",
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"wrist_rotate",
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"gripper"
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]
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}
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},
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"observation.images.cam_high": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"video_info": {
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"video.fps": 30.0,
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"video.codec": "h264",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.images.cam_right_wrist": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"video_info": {
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"video.fps": 30.0,
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"video.codec": "h264",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"action": {
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"dtype": "float32",
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"shape": [
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],
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"names": {
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"motors": [
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"waist",
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"shoulder",
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"shoulder_shadow",
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"elbow",
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"elbow_shadow",
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"forearm_roll",
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"wrist_angle",
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"wrist_rotate",
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"gripper"
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]
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}
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},
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"episode_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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},
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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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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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],
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"names": null
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},
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"next.done": {
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"dtype": "bool",
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"shape": [
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1
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],
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"names": null
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},
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"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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},
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"task_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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}
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}
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}
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```
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## Citation
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**BibTeX:**
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```bibtex
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[More Information Needed]
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```
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