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observation.state
list
action
list
observation.images.cam_high
imagewidth (px)
640
640
observation.images.cam_low
imagewidth (px)
640
640
observation.images.cam_left_wrist
imagewidth (px)
640
640
observation.images.cam_right_wrist
imagewidth (px)
640
640
timestamp
float32
0
19.9
frame_index
int64
0
299
episode_index
int64
0
9
index
int64
0
3k
task_index
int64
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0
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3
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3.6
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5.6
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0
84
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5.666667
85
0
85
0
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5.733333
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86
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5.8
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87
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5.866667
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5.933333
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6
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6.066667
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6.133333
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92
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6.2
93
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6.266667
94
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94
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6.333333
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6.4
96
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6.466667
97
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6.533333
98
0
98
0
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6.6
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

About Task

  • Task Objective: Pick up the pen from the desk and uncap the pen.
  • Operational Objects: Marker Pen
  • Operation Duration: Each operation takes approximately 15 to 20 seconds.
  • Recording Frequency: 15 Hz.
  • Robot Type: 7-DOF dual-arm Agilex 2 Pipers Desktop Robot.
  • End Effector: Gripper.
  • Dual-Arm Operation: Yes.
  • Image Resolution: 640x480.
  • Camera Positions: High; Low; Left; Right.
  • Data Content:
    • Robot's current state.
    • Robot's next action. • Current camera view images.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "aloha",
    "total_episodes": 10,
    "total_frames": 3000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 15.0,
    "splits": {
        "train": "0:10"
    },
    "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": [
                [
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper",
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper"
                ]
            ],
            "fps": 15.0
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                [
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper",
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper"
                ]
            ],
            "fps": 15.0
        },
        "observation.images.cam_high": {
            "dtype": "image",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 15.0
        },
        "observation.images.cam_low": {
            "dtype": "image",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 15.0
        },
        "observation.images.cam_left_wrist": {
            "dtype": "image",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 15.0
        },
        "observation.images.cam_right_wrist": {
            "dtype": "image",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 15.0
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15.0
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15.0
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15.0
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15.0
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null,
            "fps": 15.0
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

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