Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- gaze
- foveated-vision
- imitation-learning
- human-demonstrations
- av-aloha
library_name: lerobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
This dataset provides human eye-tracking data and robot demonstrations collected using the AV-ALOHA simulation platform, designed to train robot policies that incorporate human gaze. It is associated with the paper "Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers".
Dataset Description
- Homepage: https://ian-chuang.github.io/gaze-av-aloha/
- Paper: https://huggingface.co/papers/2507.15833
- Code: https://github.com/ian-chuang/gaze-av-aloha
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 200,
"total_frames": 50000,
"total_tasks": 1,
"total_videos": 1200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:200"
},
"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",
"features": {
"action": {
"dtype": "float32",
"shape": [
21
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
21
],
"names": null
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
14
],
"names": null
},
"observation.qpos": {
"dtype": "float32",
"shape": [
37
],
"names": null
},
"observation.images.zed_cam_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.zed_cam_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_cam_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_cam_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.overhead_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.worms_eye_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"left_eye": {
"dtype": "float32",
"shape": [
2
],
"names": null
},
"right_eye": {
"dtype": "float32",
"shape": [
2
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
@misc{chuang2025lookfocusactefficient,
title={Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers},
author={Ian Chuang and Andrew Lee and Dechen Gao and Jinyu Zou and Iman Soltani},
year={2025},
eprint={2507.15833},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2507.15833},
}