diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..55cab133643a2a73e083373d2106533678d0edd5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -9,7 +9,6 @@ *.joblib filter=lfs diff=lfs merge=lfs -text *.lfs.* filter=lfs diff=lfs merge=lfs -text *.lz4 filter=lfs diff=lfs merge=lfs -text -*.mds filter=lfs diff=lfs merge=lfs -text *.mlmodel filter=lfs diff=lfs merge=lfs -text *.model filter=lfs diff=lfs merge=lfs -text *.msgpack filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e24b665a6e901013ed15efcd0bb115c7070d6bb1 --- /dev/null +++ b/README.md @@ -0,0 +1,233 @@ +--- +license: mit +task_categories: +- robotics +tags: +- LeRobot +- aloha +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). + +## Dataset Description + + + +- **Homepage:** https://mobile-aloha.github.io/ +- **Paper:** https://arxiv.org/abs/2401.02117 +- **License:** mit + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v2.0", + "robot_type": "aloha", + "total_episodes": 50, + "total_frames": 55000, + "total_tasks": 1, + "total_videos": 150, + "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": { + "observation.images.cam_high": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 50.0, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.cam_left_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 50.0, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.cam_right_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 50.0, + "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" + ] + } + }, + "observation.effort": { + "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": { + "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" + ] + } + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +@inproceedings{fu2024mobile, + author = {Fu, Zipeng and Zhao, Tony Z. and Finn, Chelsea}, + title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation}, + booktitle = {arXiv}, + year = {2024}, +} +``` \ No newline at end of file diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..33572eb57e95e9aa3670cc891b6360799ded8a29 --- /dev/null +++ b/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5417f29af39806782a53c969791e9933ff1efa3914c0a37dc41b3c93af434869 +size 111169 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new 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