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Datasets:
TrossenRoboticsCommunity
/
aloha_fold_tshirt

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
39.6
frame_index
int64
0
1.19k
episode_index
int64
0
20
index
int64
0
24.9k
task_index
int64
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0
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2.133333
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2.233333
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2.333333
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2.566667
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2.633333
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2.933333
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[ 8.4375, 90.966796875, 90.966796875, 134.912109375, 134.82421875, 6.15234375, 31.728515625, 0.087890625, 7.441860675811768, 1.7578125, 105.1171875, 104.853515625, 144.31640625, 144.228515625, 5.80078125, 51.85546875, -4.130859375, 1.8927444219589233 ]
2.966667
89
0
89
0
[ 8.876953125, 92.724609375, 92.548828125, 135.439453125, 135.703125, 6.6796875, 32.87109375, -0.17578125, 5.442176818847656, 1.845703125, 109.86328125, 109.775390625, 142.734375, 142.734375, 6.50390625, 52.3828125, -4.04296875, 2.030456781387329 ]
[ 8.4375, 91.142578125, 91.0546875, 134.912109375, 134.82421875, 6.15234375, 31.81640625, 0.087890625, 7.441860675811768, 1.7578125, 105.8203125, 105.556640625, 144.228515625, 144.228515625, 5.80078125, 51.85546875, -4.130859375, 1.8927444219589233 ]
3
90
0
90
0
[ 8.876953125, 93.1640625, 92.98828125, 135.439453125, 135.703125, 6.6796875, 32.87109375, -0.17578125, 5.442176818847656, 1.845703125, 111.005859375, 110.830078125, 142.3828125, 142.3828125, 6.50390625, 52.55859375, -4.130859375, 2.030456781387329 ]
[ 8.4375, 91.318359375, 91.318359375, 135, 134.912109375, 6.15234375, 31.728515625, 0.17578125, 7.441860675811768, 1.494140625, 106.611328125, 106.34765625, 143.96484375, 143.96484375, 5.80078125, 52.20703125, -4.130859375, 1.8927444219589233 ]
3.033333
91
0
91
0
[ 8.876953125, 93.603515625, 93.515625, 135.439453125, 135.703125, 6.591796875, 32.87109375, -0.263671875, 5.442176818847656, 1.845703125, 112.060546875, 111.884765625, 141.943359375, 142.03125, 6.50390625, 52.998046875, -4.130859375, 2.030456781387329 ]
[ 8.4375, 91.58203125, 91.40625, 135.087890625, 135, 6.15234375, 31.728515625, 0.17578125, 7.441860675811768, 1.318359375, 107.75390625, 107.40234375, 143.61328125, 143.61328125, 5.80078125, 52.119140625, -4.130859375, 1.8927444219589233 ]
3.066667
92
0
92
0
[ 8.876953125, 94.130859375, 93.8671875, 135.3515625, 135.52734375, 6.591796875, 32.958984375, -0.17578125, 5.612245082855225, 1.845703125, 113.115234375, 112.939453125, 141.591796875, 141.6796875, 6.50390625, 53.525390625, -4.130859375, 2.030456781387329 ]
[ 8.4375, 91.845703125, 91.7578125, 135.17578125, 135.17578125, 6.15234375, 31.728515625, 0.087890625, 7.441860675811768, 1.142578125, 108.984375, 108.6328125, 143.173828125, 143.173828125, 5.80078125, 52.119140625, -4.130859375, 1.8927444219589233 ]
3.1
93
0
93
0
[ 8.876953125, 94.658203125, 94.39453125, 135.17578125, 135.439453125, 6.50390625, 32.958984375, -0.17578125, 5.442176818847656, 1.845703125, 113.994140625, 113.90625, 141.328125, 141.328125, 6.50390625, 54.052734375, -4.130859375, 2.030456781387329 ]
[ 8.349609375, 92.109375, 92.021484375, 135.263671875, 135.263671875, 6.15234375, 31.728515625, 0.087890625, 7.441860675811768, 0.966796875, 110.21484375, 109.86328125, 142.822265625, 142.734375, 5.80078125, 52.470703125, -4.130859375, 1.8927444219589233 ]
3.133333
94
0
94
0
[ 8.96484375, 95.185546875, 94.921875, 135, 135.263671875, 6.591796875, 32.958984375, -0.263671875, 5.442176818847656, 1.845703125, 114.873046875, 114.78515625, 140.9765625, 141.064453125, 6.50390625, 54.66796875, -4.130859375, 2.030456781387329 ]
[ 8.349609375, 92.373046875, 92.28515625, 135.3515625, 135.3515625, 6.15234375, 31.904296875, 0.087890625, 7.441860675811768, 0.966796875, 111.181640625, 110.830078125, 142.470703125, 142.3828125, 5.80078125, 52.91015625, -4.130859375, 1.8927444219589233 ]
3.166667
95
0
95
0
[ 8.876953125, 95.712890625, 95.537109375, 134.736328125, 135, 6.50390625, 32.958984375, -0.263671875, 5.612245082855225, 1.845703125, 115.751953125, 115.48828125, 140.712890625, 140.712890625, 6.50390625, 55.283203125, -4.130859375, 2.030456781387329 ]
[ 8.349609375, 92.63671875, 92.4609375, 135.439453125, 135.3515625, 6.15234375, 32.16796875, 0.087890625, 7.441860675811768, 0.966796875, 112.1484375, 111.796875, 142.119140625, 142.119140625, 5.80078125, 53.701171875, -4.130859375, 1.8927444219589233 ]
3.2
96
0
96
0
[ 8.876953125, 96.328125, 96.064453125, 134.560546875, 134.82421875, 6.416015625, 32.958984375, -0.3515625, 5.612245082855225, 1.845703125, 116.455078125, 116.19140625, 140.537109375, 140.537109375, 6.50390625, 55.634765625, -4.130859375, 2.030456781387329 ]
[ 8.26171875, 92.900390625, 92.900390625, 135.439453125, 135.439453125, 6.064453125, 32.255859375, 0.17578125, 7.2868218421936035, 0.87890625, 112.939453125, 112.67578125, 141.943359375, 141.767578125, 5.80078125, 54.228515625, -4.130859375, 1.8927444219589233 ]
3.233333
97
0
97
0
[ 8.876953125, 96.943359375, 96.6796875, 134.296875, 134.560546875, 6.15234375, 32.958984375, -0.3515625, 5.442176818847656, 1.845703125, 117.0703125, 116.806640625, 140.361328125, 140.44921875, 6.50390625, 55.8984375, -4.130859375, 2.030456781387329 ]
[ 8.26171875, 93.33984375, 93.33984375, 135.3515625, 135.3515625, 6.064453125, 32.255859375, 0.17578125, 7.2868218421936035, 0.966796875, 113.90625, 113.642578125, 141.6796875, 141.50390625, 5.80078125, 54.580078125, -4.130859375, 1.8927444219589233 ]
3.266667
98
0
98
0
[ 8.876953125, 97.55859375, 97.294921875, 134.033203125, 134.296875, 6.064453125, 32.958984375, -0.3515625, 5.442176818847656, 1.7578125, 117.59765625, 117.421875, 140.361328125, 140.44921875, 6.50390625, 55.986328125, -4.130859375, 2.030456781387329 ]
[ 8.173828125, 93.69140625, 93.779296875, 135.263671875, 135.263671875, 6.15234375, 32.255859375, 0.087890625, 7.2868218421936035, 0.87890625, 114.697265625, 114.345703125, 141.50390625, 141.328125, 5.80078125, 54.755859375, -4.130859375, 1.8927444219589233 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 21,
    "total_frames": 24918,
    "total_tasks": 1,
    "total_videos": 63,
    "total_chunks": 1,
    "chunks_size": 1000,
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    "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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                "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",
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                "right_gripper"
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        "observation.images.cam_left_wrist": {
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    }
}

Citation

BibTeX:

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License:
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