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README.md

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+---
+license: mit
+task_categories:
+- robotics
+tags:
+- LeRobot
+- aloha
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** https://mobile-aloha.github.io/
+- **Paper:** https://arxiv.org/abs/2401.02117
+- **License:** mit
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.0",
+    "robot_type": "aloha",
+    "total_episodes": 85,
+    "total_frames": 127500,
+    "total_tasks": 1,
+    "total_videos": 255,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:85"
+    },
+    "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": {
+        "observation.images.cam_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
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+            "names": [
+                "height",
+                "width",
+                "channel"
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+            "video_info": {
+                "video.fps": 50.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
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+            "names": [
+                "height",
+                "width",
+                "channel"
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+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
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+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
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+                640,
+                3
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+            "names": [
+                "height",
+                "width",
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+            "video_info": {
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+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
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+            "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"
+                ]
+            }
+        },
+        "observation.effort": {
+            "dtype": "float32",
+            "shape": [
+                14
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+            "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"
+                ]
+            }
+        },
+        "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"
+                ]
+            }
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+@inproceedings{fu2024mobile,
+    author    = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea},
+    title     = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation},
+    booktitle = {arXiv},
+    year      = {2024},
+}
+```

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device/camera_intrinsic.json

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device/device_episode.json

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device/device_info.json

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+                        "Left arm joint positions seven rotations(rad,rad,rad,rad,rad,rad,rad)",
+                        "Left gripper joint positions open and close angle(rad)",
+                        "Left end effector positions xyz(m,m,m)",
+                        "Left end effector 6D pose xyz euler angles(6)"
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+                        "Right arm joint positions seven rotations(rad,rad,rad,rad,rad,rad,rad)",
+                        "Right gripper joint positions open and close angle(rad)",
+                        "Right end effector positions xyz(m,m,m)",
+                        "Right end effector 6D pose xyz euler angles(6)"
+                    ]
+                }
+            }
+        }
+    ]
+}

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