Search is not available for this dataset
observation.state
list | action
list | timestamp
float32 0
53.2
| frame_index
int64 0
2.66k
| episode_index
int64 0
49
| index
int64 0
133k
| task_index
int64 0
0
|
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[
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[
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[
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|
End of preview. Expand
in Data Studio
π€ Aloha Hammer Strikes (Simulation) - 240P
This dataset contains 50 expert episodes of the Aloha robot performing a dual-arm coordination task: Hammer Strikes. The data was collected in a MuJoCo simulation environment using a scripted expert policy.
π₯ Dataset Preview
Overhead Cam | Left Wrist | Right Wrist
π Task Description
- Task: The robot uses dual-arm coordination to complete a tool-use task.
- Pick: The right arm approaches and grasps the hammer.
- Handover: The right arm hands the hammer over to the left arm.
- Strike: The left arm firmly grasps the hammer and strikes a nail on the table 3 times.
- Success Rate: 100% (Collected via a verified expert script).
- Environment: Custom
HammerEnv(MuJoCo). - Robot: ALOHA (Bi-manual).
π Dataset Details
- Resolution: 360x240 (240P) - Optimized for memory efficiency during training.
- Frame Rate: 50 FPS.
- Total Frames: 133,000 (approx. 2,660 frames per episode).
- Total Episodes: 50.
- Note: The expert policy was executed at a reduced speed (slow-motion) to ensure physics stability and grasp success rates in the simulation. This results in higher frame counts per episode but guarantees high-quality interaction data.
π» How to use with LeRobot
from lerobot.datasets.lerobot_dataset import LeRobotDataset <---οΌLerobto v4.3.0οΌ
# Load the dataset
dataset = LeRobotDataset("Lemon-03/il_aloha_hammer_strikes_table")
# Check content
print(f"Total episodes: {dataset.num_episodes}")
print(f"Cameras: {dataset.camera_keys}") # ['overhead_cam', 'wrist_cam_left', 'wrist_cam_right']
π Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 133000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:50"
},
"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.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_px",
"left_py",
"left_pz",
"left_rx",
"left_ry",
"left_rz",
"left_gripper",
"right_px",
"right_py",
"right_pz",
"right_rx",
"right_ry",
"right_rz",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_px",
"left_py",
"left_pz",
"left_rx",
"left_ry",
"left_rz",
"left_gripper",
"right_px",
"right_py",
"right_pz",
"right_rx",
"right_ry",
"right_rz",
"right_gripper"
]
},
"observation.images.overhead_cam": {
"dtype": "video",
"shape": [
240,
360,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 240,
"video.width": 360,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_cam_left": {
"dtype": "video",
"shape": [
240,
360,
3
],
"names": [
"height",
"width",
"channel"
],
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