exaFLOPs09/Isaac-Kitchen-v1103-00_1k
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下载链接：
https://hf-mirror.com/datasets/exaFLOPs09/Isaac-Kitchen-v1103-00_1k
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
Hi my name is exaFLOPs. This is just a tiny part of my dataset.
Large-scale diverse data for kitchen scene.
Mobile manipulation task(like clean kitchen, restocking, serving food, setup utensils on kitchen, put dish in dishwasher and anything you can think of!)
TL;DR, pi05 but without huge amount of teleoperation.
Using IsaacLab
Collecting demo on 100 different houses and going to test rather it can do tasks on unseen houses.
If works, I will try it on real world and submit to RSS!
- **Homepage:** https://youngwoon.github.io/
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 1000,
"total_frames": 714529,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:1000"
},
"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": {
"kitchen_num": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"kitchen_sub_num": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"kitchen_type": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"initial_pose": {
"dtype": "float32",
"shape": [
6
],
"names": {
"pose": [
"x",
"y",
"qw",
"qx",
"qy",
"qz"
]
}
},
"is_first": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"is_last": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"subtask_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
23
],
"names": {
"state": [
"l_x",
"l_y",
"l_z",
"l_r1",
"l_r2",
"l_r3",
"l_r4",
"l_r5",
"l_r6",
"r_x",
"r_y",
"r_z",
"r_r1",
"r_r2",
"r_r3",
"r_r4",
"r_r5",
"r_r6",
"l_gripper",
"r_gripper",
"v_x",
"v_y",
"omega"
]
}
},
"observation.images.front": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.height": 224,
"video.width": 224,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.height": 224,
"video.width": 224,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.height": 224,
"video.width": 224,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": {
"action": [
"l_x",
"l_y",
"l_z",
"l_r1",
"l_r2",
"l_r3",
"l_r4",
"l_r5",
"l_r6",
"r_x",
"r_y",
"r_z",
"r_r1",
"r_r2",
"r_r3",
"r_r4",
"r_r5",
"r_r6",
"l_gripper",
"r_gripper",
"v_x",
"v_y",
"omega"
]
}
},
"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
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
许可证：apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置：
- 配置名称：默认
数据文件：data/*/*.parquet
---
本数据集使用[LeRobot](https://github.com/huggingface/lerobot)创建。
## 数据集描述
大家好，我是exaFLOPs。这只是我的数据集的一小部分。
面向厨房场景的大规模多样化数据。
移动操作任务（例如清洁厨房、补货、送餐、在厨房摆放餐具、将盘子放入洗碗机等任何你能想到的任务！）
简而言之，类似pi05但无需大量遥操作。
使用IsaacLab
在100个不同的房屋中收集演示数据，并将测试其是否能在未见过的房屋中完成任务。
如果成功，我将在现实世界中尝试并提交给RSS！
- **主页：** https://youngwoon.github.io/
- **论文：** [更多信息待补充]
- **许可证：** apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{"codebase_version": "v3.0", "robot_type": null, "total_episodes": 1000, "total_frames": 714529, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 30, "splits": {"train": "0:1000"}, "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": {"kitchen_num": {"dtype": "int64", "shape": [1], "names": null}, "kitchen_sub_num": {"dtype": "int64", "shape": [1], "names": null}, "kitchen_type": {"dtype": "int64", "shape": [1], "names": null}, "initial_pose": {"dtype": "float32", "shape": [6], "names": {"pose": ["x", "y", "qw", "qx", "qy", "qz"]}}, "is_first": {"dtype": "int64", "shape": [1], "names": null}, "is_last": {"dtype": "int64", "shape": [1], "names": null}, "subtask_index": {"dtype": "int64", "shape": [1], "names": null}, "observation.state": {"dtype": "float32", "shape": [23], "names": {"state": ["l_x", "l_y", "l_z", "l_r1", "l_r2", "l_r3", "l_r4", "l_r5", "l_r6", "r_x", "r_y", "r_z", "r_r1", "r_r2", "r_r3", "r_r4", "r_r5", "r_r6", "l_gripper", "r_gripper", "v_x", "v_y", "omega"]}}, "observation.images.front": {"dtype": "image", "shape": [224, 224, 3], "names": ["height", "width", "channels"], "info": {"video.fps": 30, "video.height": 224, "video.width": 224, "video.channels": 3, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false}}, "observation.images.wrist_left": {"dtype": "image", "shape": [224, 224, 3], "names": ["height", "width", "channels"], "info": {"video.fps": 30, "video.height": 224, "video.width": 224, "video.channels": 3, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false}}, "observation.images.wrist_right": {"dtype": "image", "shape": [224, 224, 3], "names": ["height", "width", "channels"], "info": {"video.fps": 30, "video.height": 224, "video.width": 224, "video.channels": 3, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false}}, "action": {"dtype": "float32", "shape": [23], "names": {"action": ["l_x", "l_y", "l_z", "l_r1", "l_r2", "l_r3", "l_r4", "l_r5", "l_r6", "r_x", "r_y", "r_z", "r_r1", "r_r2", "r_r3", "r_r4", "r_r5", "r_r6", "l_gripper", "r_gripper", "v_x", "v_y", "omega"]}}, "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}}}
## 引用
**BibTeX格式：**
bibtex
[More Information Needed]
提供机构：
exaFLOPs09
