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aloha_mobile_cabinet_2

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Robotics
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Formats:
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aloha
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  1. README.md +233 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
  3. meta/episodes.jsonl +85 -0
  4. meta/episodes_stats.jsonl +0 -0
  5. meta/info.json +192 -0
  6. meta/tasks.jsonl +1 -0
  7. videos/chunk-000/observation.images.cam_high/episode_000000.mp4 +3 -0
README.md ADDED
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+ ---
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+ license: mit
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - aloha
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** https://mobile-aloha.github.io/
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+ - **Paper:** https://arxiv.org/abs/2401.02117
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+ - **License:** mit
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "right_waist",
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+ "right_shoulder",
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+ "right_elbow",
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+ "right_forearm_roll",
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+ "right_wrist_angle",
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+ "right_wrist_rotate",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "right_wrist_angle",
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+ "right_wrist_rotate",
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+ "right_gripper"
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+ ]
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+ "names": {
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+ "left_wrist_angle",
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+ "left_wrist_rotate",
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+ "left_gripper",
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+ "right_waist",
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+ "right_shoulder",
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+ "right_elbow",
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+ "right_forearm_roll",
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+ "right_wrist_angle",
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+ "right_wrist_rotate",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "episode_index": {
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ ],
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ },
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+ }
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ @inproceedings{fu2024mobile,
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+ author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
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+ title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation},
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+ booktitle = {arXiv},
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+ year = {2024},
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+ }
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+ ```
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