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Datasets:
tt1225
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aloha_sim_transfer_cube_human_v21

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
aloha
Libraries:
Datasets
Dask
Polars
License:
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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://tonyzhaozh.github.io/aloha/
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+ - **Paper:** https://arxiv.org/abs/2304.13705
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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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+ "codebase_version": "v2.0",
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+ "robot_type": "aloha",
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+ "total_episodes": 50,
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+ "total_frames": 20000,
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+ "fps": 50,
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+ "train": "0:50"
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+ },
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.images.top": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "video_info": {
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+ "video.fps": 50.0,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_waist",
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+ "left_shoulder",
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+ "left_elbow",
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+ "left_forearm_roll",
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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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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_waist",
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+ "left_forearm_roll",
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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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+ },
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+ },
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+ "next.done": {
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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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+ @article{Zhao2023LearningFB,
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+ title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
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+ author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
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+ journal={RSS},
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+ year={2023},
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+ volume={abs/2304.13705},
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+ url={https://arxiv.org/abs/2304.13705}
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+ }
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+ ```
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