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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.0",
+    "robot_type": "aloha",
+    "total_episodes": 30,
+    "total_frames": 5675,
+    "total_tasks": 1,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:30"
+    },
+    "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.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"
+                ]
+            ]
+        },
+        "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"
+                ]
+            ]
+        },
+        "observation.velocity": {
+            "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"
+                ]
+            ]
+        },
+        "observation.effort": {
+            "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"
+                ]
+            ]
+        },
+        "observation.images.cam_high": {
+            "dtype": "image",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ]
+        },
+        "observation.images.cam_low": {
+            "dtype": "image",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ]
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "image",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ]
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "image",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ]
+        },
+        "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:**
+
+```bibtex
+[More Information Needed]
+```

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meta/tasks.jsonl

@@ -0,0 +1,30 @@
+{"task_index": 0, "task": "Pick up red cube."}
+{"task_index": 1, "task": "Pick up red cube."}
+{"task_index": 2, "task": "Pick up green cube."}
+{"task_index": 3, "task": "Pick up green cube."}
+{"task_index": 4, "task": "Pick up red cube."}
+{"task_index": 5, "task": "Pick up red cube."}
+{"task_index": 6, "task": "Pick up green cube."}
+{"task_index": 7, "task": "Pick up green cube."}
+{"task_index": 8, "task": "Pick up red cube."}
+{"task_index": 9, "task": "Pick up red cube."}
+{"task_index": 10, "task": "Pick up green cube."}
+{"task_index": 11, "task": "Pick up green cube."}
+{"task_index": 12, "task": "Pick up red cube."}
+{"task_index": 13, "task": "Pick up red cube."}
+{"task_index": 14, "task": "Pick up green cube."}
+{"task_index": 15, "task": "Pick up green cube."}
+{"task_index": 16, "task": "Pick up red cube."}
+{"task_index": 17, "task": "Pick up red cube."}
+{"task_index": 18, "task": "Pick up green cube."}
+{"task_index": 19, "task": "Pick up green cube."}
+{"task_index": 20, "task": "Pick up red cube."}
+{"task_index": 21, "task": "Pick up red cube."}
+{"task_index": 22, "task": "Pick up green cube."}
+{"task_index": 23, "task": "Pick up green cube."}
+{"task_index": 24, "task": "Pick up red cube."}
+{"task_index": 25, "task": "Pick up red cube."}
+{"task_index": 26, "task": "Pick up green cube."}
+{"task_index": 27, "task": "Pick up green cube."}
+{"task_index": 28, "task": "Pick up red cube."}
+{"task_index": 29, "task": "Pick up green cube."}