---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- aloha
- robotics
- hdf5
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Task Description

A single malteser item is placed on the top box.
The right arm must pick it and place it on the bottom box.
The left arm can move, and it mostly observes the boxes setup.

## 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-stationary",
    "total_episodes": 50,
    "total_frames": 29946,
    "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": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "action_0",
                "action_1",
                "action_2",
                "action_3",
                "action_4",
                "action_5",
                "action_6",
                "action_7",
                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13"
            ]
        },
        "observation.effort": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "effort_0",
                "effort_1",
                "effort_2",
                "effort_3",
                "effort_4",
                "effort_5",
                "effort_6",
                "effort_7",
                "effort_8",
                "effort_9",
                "effort_10",
                "effort_11",
                "effort_12",
                "effort_13"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "image",
            "shape": [
                3,
                480,
                848
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "observation.images.cam_left_wrist": {
            "dtype": "image",
            "shape": [
                3,
                480,
                848
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "observation.images.cam_right_wrist": {
            "dtype": "image",
            "shape": [
                3,
                480,
                848
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "qpos_0",
                "qpos_1",
                "qpos_2",
                "qpos_3",
                "qpos_4",
                "qpos_5",
                "qpos_6",
                "qpos_7",
                "qpos_8",
                "qpos_9",
                "qpos_10",
                "qpos_11",
                "qpos_12",
                "qpos_13"
            ]
        },
        "observation.qvel": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "qvel_0",
                "qvel_1",
                "qvel_2",
                "qvel_3",
                "qvel_4",
                "qvel_5",
                "qvel_6",
                "qvel_7",
                "qvel_8",
                "qvel_9",
                "qvel_10",
                "qvel_11",
                "qvel_12",
                "qvel_13"
            ]
        },
        "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]
```