binomialdist/lerobot-aloha-dataset

ALOHA manipulation dataset

This repository contains a LeRobot / ALOHA-format manipulation dataset collected by teleoperation for a pi0.5 VLA assignment.

Dataset summary

• Episodes: 90
• Frames: 15090
• Task indices: 12
• FPS: 15
• Cameras: cam_high, cam_left_wrist, cam_right_wrist
• Image resolution: 480x640
• State dimension: 14
• Action dimension: 14

Structure

dataset/
  meta/
    info.json
    stats.json
    tasks.parquet
    episodes/chunk-000/file-000.parquet
  data/chunk-000/file-000.parquet
  videos/
    observation.images.cam_high/chunk-000/file-000.mp4
    observation.images.cam_left_wrist/chunk-000/file-000.mp4
    observation.images.cam_right_wrist/chunk-000/file-000.mp4

Usage

Download this repository and point LeRobot dataset loading to the dataset root. This dataset is provided for course verification and reproduction.

Repository id: binomialdist/lerobot-aloha-dataset