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dwellbot
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eval_act_aloha_test

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Robotics
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LeRobot
aloha
tutorial
eval
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action
sequence
observation.state
sequence
timestamp
float32
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14.9
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int64
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448
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3.033333
91
0
91
0
[ 1.956197738647461, -103.21898651123047, -102.28959655761719, 117.87462615966797, 122.51437377929688, 4.160341739654541, 37.32790756225586, -8.467550277709961, 93.21442413330078 ]
[ 0, -104.23828125, -102.83203125, 120.5859375, 122.51953125, 3.69140625, 37.001953125, -7.998046875, 92.7639389038086 ]
3.066667
92
0
92
0
[ 2.574249505996704, -101.9965591430664, -100.72372436523438, 117.70242309570312, 122.13674926757812, 4.241180419921875, 37.33017349243164, -8.470409393310547, 93.04890441894531 ]
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3.1
93
0
93
0
[ 2.686776638031006, -102.14289855957031, -101.01807403564453, 117.82818603515625, 122.3651123046875, 4.31769323348999, 37.29983901977539, -8.407697677612305, 92.86946868896484 ]
[ 0.52734375, -102.568359375, -101.25, 120.05859375, 121.9921875, 3.779296875, 37.08984375, -7.91015625, 92.7639389038086 ]
3.133333
94
0
94
0
[ 2.8457138538360596, -101.71725463867188, -100.60517120361328, 117.77635955810547, 122.34110260009766, 4.309760093688965, 37.264888763427734, -8.430152893066406, 92.97704315185547 ]
[ 0.791015625, -101.953125, -100.634765625, 119.70703125, 121.728515625, 3.779296875, 37.001953125, -7.91015625, 92.28944396972656 ]
3.166667
95
0
95
0
[ 3.1659679412841797, -100.89236450195312, -99.52725219726562, 117.48616027832031, 121.8736343383789, 4.363393783569336, 37.37675476074219, -8.368780136108398, 92.9803466796875 ]
[ 1.0546875, -101.337890625, -100.01953125, 119.70703125, 121.728515625, 3.779296875, 37.08984375, -7.91015625, 92.05220031738281 ]
3.2
96
0
96
0
[ 3.619058132171631, -98.70763397216797, -97.3585205078125, 116.55858612060547, 120.70464324951172, 4.409667491912842, 37.473960876464844, -8.465444564819336, 92.99618530273438 ]
[ 1.40625, -100.72265625, -99.31640625, 119.70703125, 121.552734375, 3.779296875, 37.08984375, -7.91015625, 92.05220031738281 ]
3.233333
97
0
97
0
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[ 1.7578125, -99.755859375, -98.4375, 119.267578125, 121.11328125, 3.779296875, 37.08984375, -7.998046875, 91.9335708618164 ]
3.266667
98
0
98
0
[ 4.182926177978516, -97.91075897216797, -96.65908813476562, 116.2035903930664, 120.44915771484375, 4.521811008453369, 37.54436111450195, -8.435853004455566, 92.828369140625 ]
[ 2.109375, -98.876953125, -97.470703125, 118.740234375, 120.673828125, 3.8671875, 37.08984375, -7.998046875, 91.9335708618164 ]
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": 2,
    "total_frames": 888,
    "total_tasks": 1,
    "total_videos": 6,
    "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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                "right_shoulder",
                "right_shoulder_shadow",
                "right_elbow",
                "right_elbow_shadow",
                "right_forearm_roll",
                "right_wrist_angle",
                "right_wrist_rotate",
                "right_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "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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        }
    }
}

Citation

BibTeX:

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