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README.md

@@ -1,10 +1,9 @@
 ---
-license: mit
+license: apache-2.0
 task_categories:
 - robotics
 tags:
 - LeRobot
-- aloha
 configs:
 - config_name: default
   data_files: data/*/*.parquet
@@ -16,29 +15,27 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 
 
 
-- **Homepage:** https://mobile-aloha.github.io/
-- **Paper:** https://arxiv.org/abs/2401.02117
-- **License:** mit
+- **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",
+    "codebase_version": "v3.0",
     "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",
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
     "features": {
         "observation.images.cam_high": {
             "dtype": "video",
@@ -122,7 +119,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                     "right_wrist_rotate",
                     "right_gripper"
                 ]
-            }
+            },
+            "fps": 50
         },
         "observation.effort": {
             "dtype": "float32",
@@ -146,7 +144,8 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                     "right_wrist_rotate",
                     "right_gripper"
                 ]
-            }
+            },
+            "fps": 50
         },
         "action": {
             "dtype": "float32",
@@ -170,51 +169,76 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                     "right_wrist_rotate",
                     "right_gripper"
                 ]
-            }
+            },
+            "fps": 50
         },
         "episode_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 50
         },
         "frame_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 50
         },
         "timestamp": {
             "dtype": "float32",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 50
         },
         "next.done": {
             "dtype": "bool",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 50
         },
         "index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 50
         },
         "task_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null
+            "names": null,
+            "fps": 50
+        },
+        "rewards": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 50
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 50
         }
-    }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500
 }
 ```
 
@@ -224,10 +248,5 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 **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},
-}
+[More Information Needed]
 ```