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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 20000,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.top": {
            "dtype": "image",
            "shape": [
                480,
                640,
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                ]
            }
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        },
        "timestamp": {
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        "next.done": {
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        "index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

@article{Zhao2023LearningFB,
    title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
    author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
    journal={RSS},
    year={2023},
    volume={abs/2304.13705},
    url={https://arxiv.org/abs/2304.13705}
}
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