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wxj77
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aloha_test_1

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Robotics
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< 1K
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LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
9.87
frame_index
int64
0
296
episode_index
int64
0
1
index
int64
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task_index
int64
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[ -28.388671875, 72.7734375, 72.7734375, 97.734375, 97.734375, 4.306640625, 43.06640625, 11.162109375, 0, 46.669921875, 66.796875, 66.708984375, 82.001953125, 81.73828125, 183.251953125, -55.283203125, 175.869140625, 0.5454545617103577 ]
[ -29.00390625, 70.576171875, 69.873046875, 98.4375, 97.91015625, 4.658203125, 43.2421875, 12.83203125, 0.27322402596473694, 46.0546875, 63.720703125, 62.9296875, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.84765625, 0 ]
3.066667
92
0
92
0
[ -28.388671875, 72.861328125, 72.7734375, 97.734375, 97.822265625, 3.603515625, 43.06640625, 9.66796875, 0, 46.669921875, 66.796875, 66.708984375, 82.001953125, 81.73828125, 183.251953125, -55.283203125, 175.869140625, 0.5454545617103577 ]
[ -28.125, 70.576171875, 69.873046875, 98.4375, 97.91015625, 4.482421875, 43.2421875, 11.865234375, 0.27322402596473694, 46.0546875, 63.720703125, 62.9296875, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.1
93
0
93
0
[ -28.4765625, 72.94921875, 72.861328125, 97.734375, 97.91015625, 2.724609375, 43.06640625, 7.91015625, 0, 46.669921875, 66.796875, 66.62109375, 82.001953125, 81.73828125, 183.251953125, -55.283203125, 175.78125, 0.7272727489471436 ]
[ -27.685546875, 70.576171875, 69.873046875, 98.4375, 97.91015625, 3.955078125, 43.2421875, 10.458984375, 0.27322402596473694, 46.0546875, 63.720703125, 62.9296875, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.133333
94
0
94
0
[ -29.35546875, 73.037109375, 72.94921875, 97.91015625, 98.0859375, 2.109375, 43.06640625, 6.240234375, 0, 46.669921875, 66.796875, 66.708984375, 82.001953125, 81.73828125, 183.251953125, -55.283203125, 175.78125, 0.5454545617103577 ]
[ -27.59765625, 70.576171875, 69.873046875, 98.4375, 97.91015625, 3.1640625, 43.2421875, 8.7890625, 0.27322402596473694, 46.0546875, 63.720703125, 62.9296875, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.166667
95
0
95
0
[ -30.673828125, 73.125, 73.037109375, 98.0859375, 98.173828125, 1.669921875, 43.154296875, 5.09765625, 0, 46.669921875, 66.796875, 66.62109375, 82.001953125, 81.73828125, 183.251953125, -55.283203125, 175.869140625, 0.5454545617103577 ]
[ -27.861328125, 70.6640625, 69.9609375, 98.4375, 97.998046875, 2.724609375, 43.2421875, 7.470703125, 0.27322402596473694, 46.0546875, 63.720703125, 63.017578125, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.2
96
0
96
0
[ -32.255859375, 73.125, 73.125, 98.349609375, 98.26171875, 1.58203125, 43.154296875, 4.21875, 0, 46.669921875, 66.796875, 66.62109375, 82.001953125, 81.73828125, 183.33984375, -55.283203125, 175.869140625, 0.5454545617103577 ]
[ -28.388671875, 70.6640625, 69.873046875, 98.61328125, 98.0859375, 2.021484375, 43.2421875, 6.240234375, 0.27322402596473694, 46.0546875, 63.720703125, 63.017578125, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.233333
97
0
97
0
[ -34.1015625, 73.125, 73.125, 98.61328125, 98.4375, 1.58203125, 43.06640625, 3.8671875, 0, 46.669921875, 66.708984375, 66.62109375, 82.001953125, 81.73828125, 183.251953125, -55.283203125, 175.869140625, 0.5454545617103577 ]
[ -29.35546875, 70.576171875, 69.78515625, 98.61328125, 98.173828125, 1.58203125, 43.2421875, 5.185546875, 0.27322402596473694, 46.142578125, 63.720703125, 62.9296875, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.266667
98
0
98
0
[ -36.123046875, 73.125, 73.125, 98.701171875, 98.61328125, 1.494140625, 43.06640625, 4.04296875, 0, 46.669921875, 66.796875, 66.708984375, 82.001953125, 81.73828125, 183.33984375, -55.283203125, 175.869140625, 0.5454545617103577 ]
[ -30.5859375, 70.576171875, 69.873046875, 98.701171875, 98.173828125, 1.40625, 43.2421875, 4.130859375, 0.27322402596473694, 46.142578125, 63.720703125, 62.9296875, 82.529296875, 81.5625, 182.724609375, -55.107421875, 173.935546875, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "aloha",
    "total_episodes": 2,
    "total_frames": 594,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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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                "left_shoulder",
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                "left_elbow",
                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
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        },
        "observation.state": {
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                "left_shoulder",
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                "left_elbow_shadow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper",
                "right_waist",
                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.images.cam_high": {
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            "names": [
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        "observation.images.cam_left_wrist": {
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        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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