Datasets:
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observation.state
sequence | action
sequence | episode_index
int64 0
49
| frame_index
int64 0
399
| timestamp
float32 0
7.98
| next.done
bool 2
classes | index
int64 0
20k
| task_index
int64 0
0
|
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End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 50,
"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": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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"shape": [
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3
],
"names": [
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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": [
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"
]
}
},
"action": {
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"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",
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]
}
},
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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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