HSP-IIT/eval_act_carmela_ergoPour_mergedV1
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下载链接：
https://hf-mirror.com/datasets/HSP-IIT/eval_act_carmela_ergoPour_mergedV1
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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
- **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": "ergocub",
"total_episodes": 65,
"total_frames": 9421,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:65"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_hand.position.x",
"left_hand.position.y",
"left_hand.position.z",
"left_hand.orientation.d1",
"left_hand.orientation.d2",
"left_hand.orientation.d3",
"left_hand.orientation.d4",
"left_hand.orientation.d5",
"left_hand.orientation.d6",
"right_hand.position.x",
"right_hand.position.y",
"right_hand.position.z",
"right_hand.orientation.d1",
"right_hand.orientation.d2",
"right_hand.orientation.d3",
"right_hand.orientation.d4",
"right_hand.orientation.d5",
"right_hand.orientation.d6",
"head.orientation.d1",
"head.orientation.d2",
"head.orientation.d3",
"head.orientation.d4",
"head.orientation.d5",
"head.orientation.d6",
"left_fingers.thumb_add",
"left_fingers.thumb_oc",
"left_fingers.index_add",
"left_fingers.index_oc",
"left_fingers.middle_oc",
"left_fingers.ring_pinky_oc",
"right_fingers.thumb_add",
"right_fingers.thumb_oc",
"right_fingers.index_add",
"right_fingers.index_oc",
"right_fingers.middle_oc",
"right_fingers.ring_pinky_oc"
],
"shape": [
36
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_hand.position.x",
"left_hand.position.y",
"left_hand.position.z",
"left_hand.orientation.d1",
"left_hand.orientation.d2",
"left_hand.orientation.d3",
"left_hand.orientation.d4",
"left_hand.orientation.d5",
"left_hand.orientation.d6",
"right_hand.position.x",
"right_hand.position.y",
"right_hand.position.z",
"right_hand.orientation.d1",
"right_hand.orientation.d2",
"right_hand.orientation.d3",
"right_hand.orientation.d4",
"right_hand.orientation.d5",
"right_hand.orientation.d6",
"head.orientation.d1",
"head.orientation.d2",
"head.orientation.d3",
"head.orientation.d4",
"head.orientation.d5",
"head.orientation.d6",
"left_fingers.thumb_add",
"left_fingers.thumb_oc",
"left_fingers.index_add",
"left_fingers.index_oc",
"left_fingers.middle_oc",
"left_fingers.ring_pinky_oc",
"right_fingers.thumb_add",
"right_fingers.thumb_oc",
"right_fingers.index_add",
"right_fingers.index_oc",
"right_fingers.middle_oc",
"right_fingers.ring_pinky_oc"
],
"shape": [
36
]
},
"observation.images.egocentric": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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。
## 数据集说明
- **主页:** [更多信息待补充]
- **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
{
"代码库版本": "v3.0",
"机器人类型": "ergocub",
"总交互片段数": 65,
"总帧数": 9421,
"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": 10,
"数据集划分": {
"训练集": "0:65"
},
"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": {
"动作": {
"数据类型": "float32",
"维度名称": [
"左手.位置.x",
"左手.位置.y",
"左手.位置.z",
"左手.姿态.d1",
"左手.姿态.d2",
"左手.姿态.d3",
"左手.姿态.d4",
"左手.姿态.d5",
"左手.姿态.d6",
"右手.位置.x",
"右手.位置.y",
"右手.位置.z",
"右手.姿态.d1",
"右手.姿态.d2",
"右手.姿态.d3",
"右手.姿态.d4",
"右手.姿态.d5",
"右手.姿态.d6",
"头部.姿态.d1",
"头部.姿态.d2",
"头部.姿态.d3",
"头部.姿态.d4",
"头部.姿态.d5",
"头部.姿态.d6",
"左手手指.拇指外展",
"左手手指.拇指对掌",
"左手手指.食指外展",
"左手手指.食指对掌",
"左手手指.中指对掌",
"左手手指.环小指对掌",
"右手手指.拇指外展",
"右手手指.拇指对掌",
"右手手指.食指外展",
"右手手指.食指对掌",
"右手手指.中指对掌",
"右手手指.环小指对掌"
],
"形状": [
36
]
},
"观测状态": {
"数据类型": "float32",
"维度名称": [
"左手.位置.x",
"左手.位置.y",
"左手.位置.z",
"左手.姿态.d1",
"左手.姿态.d2",
"左手.姿态.d3",
"左手.姿态.d4",
"左手.姿态.d5",
"左手.姿态.d6",
"右手.位置.x",
"右手.位置.y",
"右手.位置.z",
"右手.姿态.d1",
"右手.姿态.d2",
"右手.姿态.d3",
"右手.姿态.d4",
"右手.姿态.d5",
"右手.姿态.d6",
"头部.姿态.d1",
"头部.姿态.d2",
"头部.姿态.d3",
"头部.姿态.d4",
"头部.姿态.d5",
"头部.姿态.d6",
"左手手指.拇指外展",
"左手手指.拇指对掌",
"左手手指.食指外展",
"左手手指.食指对掌",
"左手手指.中指对掌",
"左手手指.环小指对掌",
"右手手指.拇指外展",
"右手手指.拇指对掌",
"右手手指.食指外展",
"右手手指.食指对掌",
"右手手指.中指对掌",
"右手手指.环小指对掌"
],
"形状": [
36
]
},
"观测图像（第一人称视角）": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 10,
"视频通道数": 3,
"含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"交互片段索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}
## 引用
**BibTeX:**
bibtex
[更多信息待补充]
提供机构：
HSP-IIT
