| {
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| "codebase_version": "v3.0",
|
| "robot_type": "aloha",
|
| "total_episodes": 50,
|
| "total_frames": 20000,
|
| "total_tasks": 1,
|
| "chunks_size": 1000,
|
| "fps": 50,
|
| "splits": {
|
| "train": "0:50"
|
| },
|
| "data_path": "data/aloha_sim_transfer_cube_human.tsfile",
|
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| "features": {
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| "Time": {
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| "dtype": "int64",
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| "role": "TIME",
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| "shape": [
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| 1
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| ]
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| },
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| "episode_index": {
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| "role": "TAG",
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| "shape": [
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| 1
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| ]
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| },
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| "task_index": {
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| "dtype": "int64",
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| "role": "TAG",
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| 1
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| ]
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| },
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| "frame_index": {
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| "dtype": "int64",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "sample_index": {
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| "dtype": "int64",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
|
| "next_done": {
|
| "dtype": "bool",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_0": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_1": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_2": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_3": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_4": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_5": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_6": {
|
| "dtype": "float32",
|
| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_7": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
|
| "observation_state_8": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_9": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_10": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_11": {
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| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_12": {
|
| "dtype": "float32",
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| "role": "FIELD",
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| "shape": [
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| 1
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| ]
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| },
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| "observation_state_13": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
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| ]
|
| },
|
| "action_0": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
|
| ]
|
| },
|
| "action_1": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
|
| ]
|
| },
|
| "action_2": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
|
| ]
|
| },
|
| "action_3": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
|
| ]
|
| },
|
| "action_4": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
|
| ]
|
| },
|
| "action_5": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
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| 1
|
| ]
|
| },
|
| "action_6": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_7": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_8": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_9": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_10": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_11": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_12": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| },
|
| "action_13": {
|
| "dtype": "float32",
|
| "role": "FIELD",
|
| "shape": [
|
| 1
|
| ]
|
| }
|
| },
|
| "files_size_in_mb": 500.0,
|
| "tsfile_conversion": {
|
| "source_dataset": "lerobot/aloha_sim_transfer_cube_human",
|
| "source_data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| "converted_data_path": "data/aloha_sim_transfer_cube_human.tsfile",
|
| "table_name": "aloha_sim_transfer_cube_human",
|
| "granularity": "merged",
|
| "time_precision": "ms",
|
| "time_mapping": {
|
| "formula": "round(timestamp * 1000)",
|
| "unit": "milliseconds",
|
| "time_column": "Time",
|
| "restarts_per_episode": true,
|
| "fps": 50
|
| },
|
| "tag_columns": [
|
| "episode_index",
|
| "task_index"
|
| ],
|
| "vector_columns": "auto-detected list/array columns flattened to FLOAT fields",
|
| "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
|
| "column_mapping": {
|
| "renamed": {
|
| "index": "sample_index",
|
| "next.done": "next_done"
|
| },
|
| "dropped": {
|
| "timestamp": "equals Time/1000 seconds; redundant after Time synthesis",
|
| "observation.images.top": "video not included; see original dataset"
|
| },
|
| "note": "observation.state/action vector columns flattened to <name>_0..N-1 FLOAT"
|
| },
|
| "original_features": {
|
| "observation.images.top": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channel"
|
| ],
|
| "video_info": {
|
| "video.fps": 50.0,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "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"
|
| ]
|
| },
|
| "fps": 50.0
|
| },
|
| "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"
|
| ]
|
| },
|
| "fps": 50.0
|
| },
|
| "episode_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null,
|
| "fps": 50.0
|
| },
|
| "frame_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null,
|
| "fps": 50.0
|
| },
|
| "timestamp": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null,
|
| "fps": 50.0
|
| },
|
| "next.done": {
|
| "dtype": "bool",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null,
|
| "fps": 50.0
|
| },
|
| "index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null,
|
| "fps": 50.0
|
| },
|
| "task_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null,
|
| "fps": 50.0
|
| }
|
| }
|
| }
|
| } |
