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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 65000,
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    "total_chunks": 1,
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    "fps": 50,
    "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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        "observation.state": {
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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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