ankile/square-dagger-sobol-v1-r5

---
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

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 101,
"total_frames": 17457,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:101"
},
"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": [
9
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_quat_x",
"eef_quat_y",
"eef_quat_z",
"eef_quat_w",
"gripper_qpos_left",
"gripper_qpos_right"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"nut_to_eef_pos_x",
"nut_to_eef_pos_y",
"nut_to_eef_pos_z",
"nut_to_eef_quat_x",
"nut_to_eef_quat_y",
"nut_to_eef_quat_z",
"nut_to_eef_quat_w",
"nut_pos_x",
"nut_pos_y",
"nut_pos_z",
"nut_quat_x",
"nut_quat_y",
"nut_quat_z",
"nut_quat_w"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_eef_pos_x",
"delta_eef_pos_y",
"delta_eef_pos_z",
"delta_eef_rot_x",
"delta_eef_rot_y",
"delta_eef_rot_z",
"gripper_action"
]
},
"source": {
"dtype": "int64",
"shape": [
1
],
"names": [
"source_id"
]
},
"success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success_flag"
]
},
"intervention": {
"dtype": "int64",
"shape": [
1
],
"names": [
"intervention_flag"
]
},
"is_valid": {
"dtype": "int64",
"shape": [
1
],
"names": [
"is_valid_flag"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "int64",
"shape": [
1
],
"names": [
"done_flag"
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"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
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
---

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集描述
- **主页**：[待补充更多信息]
- **论文**：[待补充更多信息]
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "panda",
"总回合数": 101,
"总帧数": 17457,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 20,
"数据集划分": {
"训练集": "0:101"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"观测数据.机械臂末端状态（observation.state）": {
"数据类型": "float32",
"形状": [9],
"字段名称": [
"末端执行器x位置（eef_pos_x）",
"末端执行器y位置（eef_pos_y）",
"末端执行器z位置（eef_pos_z）",
"末端执行器四元数x分量（eef_quat_x）",
"末端执行器四元数y分量（eef_quat_y）",
"末端执行器四元数z分量（eef_quat_z）",
"末端执行器四元数w分量（eef_quat_w）",
"左手夹爪关节位置（gripper_qpos_left）",
"右手夹爪关节位置（gripper_qpos_right）"
]
},
"观测数据.环境状态（observation.environment_state）": {
"数据类型": "float32",
"形状": [14],
"字段名称": [
"螺母相对于末端执行器的x位置（nut_to_eef_pos_x）",
"螺母相对于末端执行器的y位置（nut_to_eef_pos_y）",
"螺母相对于末端执行器的z位置（nut_to_eef_pos_z）",
"螺母相对于末端执行器的四元数x分量（nut_to_eef_quat_x）",
"螺母相对于末端执行器的四元数y分量（nut_to_eef_quat_y）",
"螺母相对于末端执行器的四元数z分量（nut_to_eef_quat_z）",
"螺母相对于末端执行器的四元数w分量（nut_to_eef_quat_w）",
"螺母x位置（nut_pos_x）",
"螺母y位置（nut_pos_y）",
"螺母z位置（nut_pos_z）",
"螺母四元数x分量（nut_quat_x）",
"螺母四元数y分量（nut_quat_y）",
"螺母四元数z分量（nut_quat_z）",
"螺母四元数w分量（nut_quat_w）"
]
},
"动作数据（action）": {
"数据类型": "float32",
"形状": [7],
"字段名称": [
"末端执行器x方向位移增量（delta_eef_pos_x）",
"末端执行器y方向位移增量（delta_eef_pos_y）",
"末端执行器z方向位移增量（delta_eef_pos_z）",
"末端执行器x方向旋转增量（delta_eef_rot_x）",
"末端执行器y方向旋转增量（delta_eef_rot_y）",
"末端执行器z方向旋转增量（delta_eef_rot_z）",
"夹爪动作指令（gripper_action）"
]
},
"源数据标识（source）": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["源ID（source_id）"]
},
"成功标志（success）": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["成功标记（success_flag）"]
},
"干预标志（intervention）": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["干预标记（intervention_flag）"]
},
"有效标志（is_valid）": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["有效标记（is_valid_flag）"]
},
"奖励值（reward）": {
"数据类型": "float32",
"形状": [1],
"字段名称": ["奖励（reward）"]
},
"回合结束标志（done）": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["回合结束标记（done_flag）"]
},
"观测数据.图像.智能视角（observation.images.agentview）": {
"数据类型": "video",
"形状": [256, 256, 3],
"字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频轨道": false
}
},
"观测数据.图像.机械臂眼在手视角（observation.images.robot0_eye_in_hand）": {
"数据类型": "video",
"形状": [256, 256, 3],
"字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频轨道": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}

## 引用

**BibTeX格式引用**：
bibtex
[待补充更多信息]