Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Paper
• 2401.02117 • Published
• 33
Search is not available for this dataset
states list | actions list | next.done bool | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 85,
"total_frames": 127500,
"total_tasks": 1,
"total_videos": 255,
"total_chunks": 1,
"chunks_size": 1000,
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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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},
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},
"observation.state": {
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"names": {
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},
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"names": {
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},
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"names": {
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},
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}
}
Citation
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},
}
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Homepage:
mobile-aloha.github.io
Paper:
arxiv.org
License:
mit
Size of downloaded dataset files:
905 kB
Size of the auto-converted Parquet files:
905 kB
Number of rows:
2,684