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README.md

@@ -1,10 +1,9 @@
 ---
-license: mit
+license: apache-2.0
 task_categories:
 - robotics
 tags:
 - LeRobot
-- aloha
 configs:
 - config_name: default
   data_files: data/*/*.parquet
@@ -16,30 +15,85 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 
 
 
-- **Homepage:** https://tonyzhaozh.github.io/aloha/
-- **Paper:** https://arxiv.org/abs/2304.13705
-- **License:** mit
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
 
 ## Dataset Structure
 
 [meta/info.json](meta/info.json):
 ```json
 {
-    "codebase_version": "v2.0",
+    "codebase_version": "v3.0",
     "robot_type": "aloha",
     "total_episodes": 50,
     "total_frames": 35000,
     "total_tasks": 1,
-    "total_videos": 200,
-    "total_chunks": 1,
     "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
     "fps": 50,
     "splits": {
         "train": "0:50"
     },
-    "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",
+    "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.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"
+                ]
+            }
+        },
+        "action": {
+            "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"
+                ]
+            }
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
         "observation.images.cam_high": {
             "dtype": "video",
             "shape": [
@@ -52,15 +106,18 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "width",
                 "channel"
             ],
-            "video_info": {
-                "video.fps": 50.0,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuvj420p",
                 "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
                 "has_audio": false
             }
         },
-        "observation.images.cam_left_wrist": {
+        "observation.images.cam_low": {
             "dtype": "video",
             "shape": [
                 480,
@@ -72,15 +129,18 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "width",
                 "channel"
             ],
-            "video_info": {
-                "video.fps": 50.0,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuvj420p",
                 "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
                 "has_audio": false
             }
         },
-        "observation.images.cam_low": {
+        "observation.images.cam_left_wrist": {
             "dtype": "video",
             "shape": [
                 480,
@@ -92,11 +152,14 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "width",
                 "channel"
             ],
-            "video_info": {
-                "video.fps": 50.0,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuvj420p",
                 "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
                 "has_audio": false
             }
         },
@@ -112,64 +175,19 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "width",
                 "channel"
             ],
-            "video_info": {
-                "video.fps": 50.0,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuvj420p",
                 "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
                 "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"
-                ]
-            }
-        },
-        "action": {
+        "timestamp": {
             "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"
-                ]
-            }
-        },
-        "episode_index": {
-            "dtype": "int64",
             "shape": [
                 1
             ],
@@ -182,15 +200,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": null
         },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "next.done": {
-            "dtype": "bool",
+        "episode_index": {
+            "dtype": "int64",
             "shape": [
                 1
             ],
@@ -220,12 +231,5 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 **BibTeX:**
 
 ```bibtex
-@article{Zhao2023LearningFB,
-    title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
-    author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
-    journal={RSS},
-    year={2023},
-    volume={abs/2304.13705},
-    url={https://arxiv.org/abs/2304.13705}
-}
+[More Information Needed]
 ```