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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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|
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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This dataset is a lerobot conversion of the `aloha_pen_uncap_diverse` subset of BiPlay. |
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BiPlay contains 9.7 hours of bimanual data collected with an aloha robot at the RAIL lab @ UC Berkeley, USA. It contains 7023 clips, 2000 language annotations and 326 unique scenes. |
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Paper: https://huggingface.co/papers/2410.10088 Code: https://github.com/sudeepdasari/dit-policy If you use the dataset please cite: |
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``` |
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@inproceedings{dasari2025ingredients, |
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title={The Ingredients for Robotic Diffusion Transformers}, |
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author={Sudeep Dasari and Oier Mees and Sebastian Zhao and Mohan Kumar Srirama and Sergey Levine}, |
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booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, |
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year={2025}, |
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address = {Atlanta, USA} |
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} |
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``` |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.0", |
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"robot_type": "aloha", |
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"total_episodes": 123, |
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"total_frames": 36900, |
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"total_tasks": 1, |
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"total_videos": 0, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 50, |
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"splits": { |
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"train": "0:123" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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[ |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper", |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper" |
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] |
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] |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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[ |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper", |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper" |
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] |
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] |
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}, |
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"observation.velocity": { |
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"dtype": "float32", |
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"shape": [ |
|
14 |
|
], |
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"names": [ |
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[ |
|
"right_waist", |
|
"right_shoulder", |
|
"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper", |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper" |
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] |
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] |
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}, |
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"observation.effort": { |
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"dtype": "float32", |
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"shape": [ |
|
14 |
|
], |
|
"names": [ |
|
[ |
|
"right_waist", |
|
"right_shoulder", |
|
"right_elbow", |
|
"right_forearm_roll", |
|
"right_wrist_angle", |
|
"right_wrist_rotate", |
|
"right_gripper", |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper" |
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] |
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] |
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}, |
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"observation.images.cam_high": { |
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"dtype": "image", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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] |
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}, |
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"observation.images.cam_low": { |
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"dtype": "image", |
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"shape": [ |
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3, |
|
480, |
|
640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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] |
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}, |
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"observation.images.cam_left_wrist": { |
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"dtype": "image", |
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"shape": [ |
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3, |
|
480, |
|
640 |
|
], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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] |
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}, |
|
"observation.images.cam_right_wrist": { |
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"dtype": "image", |
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"shape": [ |
|
3, |
|
480, |
|
640 |
|
], |
|
"names": [ |
|
"channels", |
|
"height", |
|
"width" |
|
] |
|
}, |
|
"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 |
|
} |
|
} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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|
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```bibtex |
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[More Information Needed] |
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``` |
