Hugging Face's logo

Datasets:
shantanu-tr
/
aloha_test_new

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
49.3
frame_index
int64
0
1.48k
episode_index
int64
0
1
index
int64
0
2.95k
task_index
int64
0
0
[ 2048, 2047, 2042, 2058, 2046, 1990, 2117 ]
[ 2047, 2047, 2043, 2056, 2044, 1991, 2117 ]
0
0
0
0
0
[ 2048, 2047, 2042, 2059, 2047, 1988, 2117 ]
[ 2048, 2047, 2043, 2057, 2045, 1990, 2117 ]
0.033333
1
0
1
0
[ 2048, 2047, 2042, 2060, 2048, 1987, 2117 ]
[ 2047, 2047, 2043, 2057, 2045, 1988, 2117 ]
0.066667
2
0
2
0
[ 2048, 2047, 2042, 2060, 2048, 1985, 2117 ]
[ 2047, 2047, 2043, 2058, 2046, 1987, 2117 ]
0.1
3
0
3
0
[ 2048, 2047, 2042, 2061, 2049, 1984, 2117 ]
[ 2048, 2047, 2043, 2059, 2046, 1985, 2117 ]
0.133333
4
0
4
0
[ 2048, 2047, 2042, 2061, 2049, 1982, 2118 ]
[ 2047, 2047, 2043, 2059, 2047, 1984, 2117 ]
0.166667
5
0
5
0
[ 2048, 2047, 2042, 2061, 2050, 1981, 2117 ]
[ 2047, 2047, 2043, 2060, 2047, 1983, 2117 ]
0.2
6
0
6
0
[ 2048, 2047, 2042, 2061, 2050, 1980, 2117 ]
[ 2047, 2047, 2043, 2060, 2048, 1982, 2117 ]
0.233333
7
0
7
0
[ 2048, 2047, 2042, 2061, 2051, 1980, 2117 ]
[ 2048, 2047, 2043, 2060, 2048, 1981, 2117 ]
0.266667
8
0
8
0
[ 2048, 2047, 2042, 2061, 2051, 1980, 2118 ]
[ 2047, 2047, 2043, 2060, 2048, 1981, 2117 ]
0.3
9
0
9
0
[ 2048, 2047, 2042, 2061, 2051, 1980, 2117 ]
[ 2047, 2047, 2043, 2060, 2049, 1980, 2117 ]
0.333333
10
0
10
0
[ 2048, 2047, 2042, 2061, 2052, 1980, 2117 ]
[ 2048, 2047, 2043, 2060, 2049, 1980, 2117 ]
0.366667
11
0
11
0
[ 2048, 2047, 2042, 2060, 2052, 1980, 2117 ]
[ 2047, 2047, 2043, 2060, 2050, 1980, 2117 ]
0.4
12
0
12
0
[ 2048, 2047, 2042, 2059, 2053, 1980, 2117 ]
[ 2048, 2047, 2043, 2059, 2050, 1980, 2117 ]
0.433333
13
0
13
0
[ 2048, 2047, 2042, 2057, 2053, 1980, 2117 ]
[ 2047, 2047, 2043, 2059, 2051, 1980, 2117 ]
0.466667
14
0
14
0
[ 2048, 2047, 2042, 2056, 2054, 1980, 2117 ]
[ 2047, 2047, 2043, 2057, 2051, 1980, 2117 ]
0.5
15
0
15
0
[ 2048, 2047, 2042, 2054, 2054, 1980, 2117 ]
[ 2047, 2047, 2043, 2056, 2052, 1980, 2117 ]
0.533333
16
0
16
0
[ 2048, 2047, 2042, 2053, 2055, 1980, 2117 ]
[ 2047, 2047, 2043, 2054, 2052, 1980, 2117 ]
0.566667
17
0
17
0
[ 2048, 2047, 2042, 2051, 2055, 1981, 2117 ]
[ 2047, 2047, 2043, 2052, 2053, 1980, 2117 ]
0.6
18
0
18
0
[ 2048, 2047, 2042, 2049, 2056, 1980, 2117 ]
[ 2048, 2047, 2043, 2051, 2053, 1981, 2117 ]
0.633333
19
0
19
0
[ 2048, 2047, 2042, 2048, 2056, 1980, 2117 ]
[ 2047, 2047, 2043, 2049, 2054, 1980, 2117 ]
0.666667
20
0
20
0
[ 2048, 2047, 2042, 2046, 2057, 1980, 2118 ]
[ 2048, 2047, 2043, 2047, 2054, 1980, 2117 ]
0.7
21
0
21
0
[ 2048, 2047, 2042, 2044, 2057, 1980, 2118 ]
[ 2047, 2047, 2043, 2046, 2055, 1980, 2117 ]
0.733333
22
0
22
0
[ 2048, 2047, 2042, 2043, 2058, 1980, 2117 ]
[ 2047, 2047, 2043, 2044, 2055, 1980, 2117 ]
0.766667
23
0
23
0
[ 2048, 2047, 2042, 2041, 2058, 1980, 2117 ]
[ 2047, 2047, 2043, 2042, 2056, 1980, 2117 ]
0.8
24
0
24
0
[ 2048, 2047, 2042, 2039, 2059, 1980, 2117 ]
[ 2048, 2047, 2043, 2041, 2056, 1980, 2117 ]
0.833333
25
0
25
0
[ 2048, 2047, 2042, 2037, 2059, 1980, 2118 ]
[ 2047, 2047, 2043, 2039, 2057, 1980, 2117 ]
0.866667
26
0
26
0
[ 2048, 2047, 2042, 2036, 2060, 1980, 2118 ]
[ 2047, 2047, 2043, 2036, 2058, 1980, 2117 ]
0.9
27
0
27
0
[ 2048, 2047, 2042, 2033, 2061, 1980, 2118 ]
[ 2047, 2047, 2043, 2035, 2058, 1980, 2117 ]
0.933333
28
0
28
0
[ 2048, 2047, 2042, 2032, 2061, 1980, 2118 ]
[ 2048, 2047, 2043, 2033, 2060, 1980, 2118 ]
0.966667
29
0
29
0
[ 2048, 2047, 2042, 2030, 2063, 1980, 2117 ]
[ 2048, 2047, 2043, 2031, 2059, 1980, 2118 ]
1
30
0
30
0
[ 2048, 2047, 2042, 2028, 2062, 1980, 2117 ]
[ 2047, 2047, 2043, 2030, 2061, 1980, 2118 ]
1.033333
31
0
31
0
[ 2048, 2047, 2042, 2027, 2064, 1980, 2117 ]
[ 2047, 2047, 2043, 2028, 2061, 1980, 2118 ]
1.066667
32
0
32
0
[ 2048, 2047, 2042, 2025, 2064, 1981, 2118 ]
[ 2048, 2047, 2043, 2026, 2062, 1980, 2117 ]
1.1
33
0
33
0
[ 2047, 2047, 2042, 2023, 2065, 1981, 2118 ]
[ 2047, 2047, 2043, 2025, 2063, 1981, 2117 ]
1.133333
34
0
34
0
[ 2047, 2047, 2042, 2022, 2066, 1981, 2118 ]
[ 2047, 2047, 2043, 2023, 2063, 1981, 2117 ]
1.166667
35
0
35
0
[ 2047, 2047, 2042, 2020, 2066, 1981, 2118 ]
[ 2047, 2047, 2043, 2021, 2065, 1981, 2118 ]
1.2
36
0
36
0
[ 2047, 2047, 2042, 2018, 2068, 1981, 2117 ]
[ 2047, 2047, 2043, 2019, 2065, 1981, 2118 ]
1.233333
37
0
37
0
[ 2047, 2047, 2042, 2016, 2068, 1981, 2118 ]
[ 2047, 2047, 2043, 2017, 2067, 1981, 2118 ]
1.266667
38
0
38
0
[ 2047, 2047, 2042, 2014, 2070, 1981, 2118 ]
[ 2047, 2047, 2043, 2015, 2067, 1981, 2118 ]
1.3
39
0
39
0
[ 2047, 2047, 2042, 2012, 2070, 1981, 2117 ]
[ 2047, 2047, 2043, 2013, 2069, 1981, 2118 ]
1.333333
40
0
40
0
[ 2047, 2047, 2042, 2010, 2072, 1983, 2118 ]
[ 2047, 2047, 2043, 2011, 2070, 1981, 2117 ]
1.366667
41
0
41
0
[ 2047, 2047, 2042, 2008, 2073, 1984, 2117 ]
[ 2047, 2047, 2043, 2009, 2070, 1982, 2118 ]
1.4
42
0
42
0
[ 2047, 2047, 2042, 2006, 2073, 1985, 2118 ]
[ 2047, 2047, 2043, 2007, 2072, 1983, 2117 ]
1.433333
43
0
43
0
[ 2047, 2047, 2042, 2004, 2075, 1986, 2118 ]
[ 2047, 2047, 2043, 2005, 2072, 1983, 2117 ]
1.466667
44
0
44
0
[ 2047, 2047, 2042, 2002, 2075, 1986, 2118 ]
[ 2047, 2047, 2043, 2003, 2074, 1984, 2118 ]
1.5
45
0
45
0
[ 2047, 2047, 2042, 2000, 2077, 1987, 2118 ]
[ 2047, 2047, 2043, 2001, 2075, 1984, 2118 ]
1.533333
46
0
46
0
[ 2047, 2047, 2042, 1998, 2078, 1987, 2118 ]
[ 2047, 2047, 2043, 1999, 2076, 1985, 2118 ]
1.566667
47
0
47
0
[ 2047, 2047, 2042, 1996, 2079, 1988, 2118 ]
[ 2047, 2047, 2043, 1998, 2077, 1985, 2118 ]
1.6
48
0
48
0
[ 2047, 2047, 2042, 1995, 2080, 1988, 2118 ]
[ 2047, 2047, 2043, 1994, 2078, 1986, 2118 ]
1.633333
49
0
49
0
[ 2047, 2047, 2042, 1991, 2081, 1989, 2118 ]
[ 2047, 2047, 2043, 1993, 2080, 1986, 2118 ]
1.666667
50
0
50
0
[ 2047, 2047, 2042, 1990, 2083, 1989, 2118 ]
[ 2047, 2047, 2043, 1991, 2081, 1986, 2118 ]
1.7
51
0
51
0
[ 2047, 2047, 2042, 1988, 2084, 1989, 2118 ]
[ 2047, 2047, 2043, 1989, 2082, 1986, 2118 ]
1.733333
52
0
52
0
[ 2047, 2047, 2042, 1986, 2085, 1989, 2118 ]
[ 2047, 2047, 2043, 1987, 2083, 1986, 2118 ]
1.766667
53
0
53
0
[ 2047, 2047, 2042, 1984, 2086, 1989, 2118 ]
[ 2047, 2047, 2043, 1985, 2084, 1986, 2118 ]
1.8
54
0
54
0
[ 2047, 2047, 2042, 1982, 2087, 1989, 2118 ]
[ 2047, 2047, 2043, 1983, 2086, 1986, 2118 ]
1.833333
55
0
55
0
[ 2047, 2047, 2042, 1980, 2089, 1989, 2118 ]
[ 2047, 2047, 2043, 1981, 2086, 1987, 2118 ]
1.866667
56
0
56
0
[ 2047, 2047, 2042, 1978, 2089, 1990, 2118 ]
[ 2047, 2047, 2043, 1979, 2088, 1987, 2118 ]
1.9
57
0
57
0
[ 2047, 2047, 2042, 1976, 2091, 1990, 2117 ]
[ 2047, 2047, 2043, 1977, 2088, 1987, 2118 ]
1.933333
58
0
58
0
[ 2046, 2047, 2042, 1974, 2091, 1990, 2118 ]
[ 2047, 2047, 2043, 1975, 2090, 1988, 2118 ]
1.966667
59
0
59
0
[ 2044, 2047, 2042, 1972, 2093, 1991, 2118 ]
[ 2047, 2047, 2043, 1974, 2091, 1988, 2118 ]
2
60
0
60
0
[ 2044, 2047, 2042, 1971, 2094, 1991, 2118 ]
[ 2044, 2047, 2043, 1972, 2092, 1989, 2118 ]
2.033333
61
0
61
0
[ 2041, 2047, 2042, 1969, 2095, 1992, 2118 ]
[ 2044, 2047, 2043, 1970, 2094, 1989, 2118 ]
2.066667
62
0
62
0
[ 2041, 2047, 2042, 1967, 2097, 1992, 2118 ]
[ 2043, 2047, 2043, 1968, 2095, 1990, 2118 ]
2.1
63
0
63
0
[ 2040, 2046, 2042, 1965, 2098, 1993, 2117 ]
[ 2043, 2047, 2043, 1967, 2098, 1990, 2118 ]
2.133333
64
0
64
0
[ 2040, 2046, 2042, 1964, 2101, 1993, 2118 ]
[ 2042, 2046, 2043, 1964, 2098, 1991, 2118 ]
2.166667
65
0
65
0
[ 2039, 2045, 2042, 1961, 2101, 1994, 2118 ]
[ 2042, 2046, 2043, 1963, 2101, 1991, 2118 ]
2.2
66
0
66
0
[ 2039, 2044, 2042, 1960, 2104, 1994, 2117 ]
[ 2040, 2046, 2043, 1961, 2101, 1992, 2118 ]
2.233333
67
0
67
0
[ 2037, 2043, 2042, 1957, 2104, 1995, 2118 ]
[ 2040, 2045, 2043, 1959, 2104, 1992, 2118 ]
2.266667
68
0
68
0
[ 2037, 2042, 2042, 1956, 2107, 1995, 2118 ]
[ 2038, 2045, 2043, 1956, 2104, 1994, 2118 ]
2.3
69
0
69
0
[ 2035, 2042, 2042, 1953, 2107, 1997, 2117 ]
[ 2038, 2044, 2042, 1954, 2107, 1994, 2118 ]
2.333333
70
0
70
0
[ 2035, 2041, 2042, 1951, 2110, 1997, 2118 ]
[ 2037, 2044, 2042, 1951, 2108, 1996, 2118 ]
2.366667
71
0
71
0
[ 2034, 2041, 2042, 1948, 2111, 1999, 2117 ]
[ 2037, 2043, 2042, 1949, 2111, 1996, 2118 ]
2.4
72
0
72
0
[ 2034, 2040, 2042, 1946, 2114, 1999, 2118 ]
[ 2036, 2042, 2042, 1947, 2112, 1997, 2117 ]
2.433333
73
0
73
0
[ 2033, 2039, 2042, 1944, 2115, 2000, 2117 ]
[ 2035, 2041, 2042, 1945, 2115, 1998, 2117 ]
2.466667
74
0
74
0
[ 2032, 2038, 2042, 1942, 2118, 2001, 2117 ]
[ 2035, 2038, 2042, 1943, 2116, 1999, 2117 ]
2.5
75
0
75
0
[ 2032, 2035, 2042, 1940, 2119, 2002, 2117 ]
[ 2035, 2036, 2042, 1943, 2120, 2000, 2117 ]
2.533333
76
0
76
0
[ 2032, 2033, 2042, 1940, 2122, 2003, 2117 ]
[ 2034, 2035, 2042, 1940, 2121, 2001, 2117 ]
2.566667
77
0
77
0
[ 2031, 2032, 2042, 1937, 2124, 2004, 2117 ]
[ 2034, 2034, 2042, 1937, 2123, 2001, 2117 ]
2.6
78
0
78
0
[ 2031, 2031, 2042, 1934, 2126, 2004, 2117 ]
[ 2034, 2033, 2042, 1934, 2126, 2002, 2117 ]
2.633333
79
0
79
0
[ 2031, 2030, 2042, 1931, 2129, 2005, 2118 ]
[ 2034, 2033, 2041, 1932, 2128, 2002, 2117 ]
2.666667
80
0
80
0
[ 2031, 2030, 2040, 1929, 2131, 2005, 2117 ]
[ 2034, 2032, 2041, 1930, 2132, 2002, 2117 ]
2.7
81
0
81
0
[ 2031, 2029, 2040, 1927, 2135, 2005, 2117 ]
[ 2033, 2031, 2041, 1928, 2133, 2003, 2117 ]
2.733333
82
0
82
0
[ 2030, 2028, 2039, 1925, 2136, 2006, 2117 ]
[ 2033, 2030, 2041, 1926, 2137, 2003, 2117 ]
2.766667
83
0
83
0
[ 2030, 2027, 2039, 1923, 2140, 2006, 2117 ]
[ 2031, 2028, 2040, 1924, 2137, 2004, 2117 ]
2.8
84
0
84
0
[ 2028, 2025, 2038, 1921, 2140, 2007, 2118 ]
[ 2031, 2026, 2040, 1923, 2141, 2004, 2117 ]
2.833333
85
0
85
0
[ 2028, 2023, 2038, 1920, 2144, 2007, 2117 ]
[ 2029, 2024, 2040, 1920, 2141, 2005, 2117 ]
2.866667
86
0
86
0
[ 2026, 2021, 2038, 1917, 2144, 2008, 2117 ]
[ 2028, 2023, 2038, 1918, 2146, 2005, 2117 ]
2.9
87
0
87
0
[ 2025, 2020, 2038, 1915, 2148, 2008, 2117 ]
[ 2026, 2022, 2037, 1913, 2146, 2006, 2117 ]
2.933333
88
0
88
0
[ 2023, 2019, 2038, 1910, 2149, 2009, 2117 ]
[ 2026, 2021, 2037, 1912, 2150, 2006, 2117 ]
2.966667
89
0
89
0
[ 2023, 2018, 2038, 1909, 2153, 2009, 2117 ]
[ 2024, 2021, 2037, 1910, 2151, 2007, 2117 ]
3
90
0
90
0
[ 2021, 2018, 2038, 1907, 2154, 2010, 2117 ]
[ 2024, 2019, 2037, 1909, 2154, 2007, 2117 ]
3.033333
91
0
91
0
[ 2021, 2016, 2038, 1906, 2157, 2010, 2117 ]
[ 2023, 2019, 2037, 1907, 2156, 2008, 2117 ]
3.066667
92
0
92
0
[ 2020, 2016, 2038, 1904, 2159, 2005, 2117 ]
[ 2022, 2015, 2037, 1905, 2158, 2008, 2117 ]
3.1
93
0
93
0
[ 2019, 2012, 2038, 1902, 2161, 2005, 2117 ]
[ 2022, 2015, 2037, 1905, 2161, 2005, 2117 ]
3.133333
94
0
94
0
[ 2019, 2012, 2038, 1902, 2164, 2002, 2117 ]
[ 2020, 2012, 2037, 1901, 2164, 2005, 2117 ]
3.166667
95
0
95
0
[ 2017, 2009, 2038, 1898, 2167, 2002, 2117 ]
[ 2020, 2012, 2037, 1899, 2167, 2001, 2117 ]
3.2
96
0
96
0
[ 2017, 2009, 2038, 1896, 2169, 1998, 2117 ]
[ 2017, 2010, 2037, 1896, 2168, 2001, 2117 ]
3.233333
97
0
97
0
[ 2014, 2007, 2038, 1893, 2171, 1998, 2117 ]
[ 2017, 2010, 2037, 1895, 2171, 1999, 2117 ]
3.266667
98
0
98
0
[ 2014, 2007, 2038, 1892, 2174, 1996, 2117 ]
[ 2014, 2008, 2037, 1893, 2172, 1998, 2117 ]
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": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 2,
    "total_frames": 2955,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                7
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_elbow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "left_waist",
                "left_shoulder",
                "left_elbow",
                "left_forearm_roll",
                "left_wrist_angle",
                "left_wrist_rotate",
                "left_gripper"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_low": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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:

[More Information Needed]
Downloads last month
42
License:
apache-2.0
Size of downloaded dataset files:
133 kB
Size of the auto-converted Parquet files:
133 kB
Number of rows:
2,955