droid_1.0.1_tar

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": "v2.1",
"robot_type": "Franka",
"total_episodes": 95600,
"total_frames": 27612581,
"total_tasks": 0,
"total_videos": 286800,
"total_chunks": 95,
"chunks_size": 1000,
"fps": 15,
"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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"shape": [
1
],
"names": null
},
"is_last": {
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"shape": [
1
],
"names": null
},
"is_terminal": {
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1
],
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},
"language_instruction": {
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],
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},
"language_instruction_2": {
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1
],
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},
"language_instruction_3": {
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1
],
"names": null
},
"observation.state.gripper_position": {
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],
"names": {
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]
}
},
"observation.state.cartesian_position": {
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"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"observation.state.joint_position": {
"dtype": "float32",
"shape": [
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],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"observation.state": {
"dtype": "float32",
"shape": [
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],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 15.0,
"video.height": 180,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.exterior_1_left": {
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],
"names": [
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],
"info": {
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"video.pix_fmt": "yuv420p",
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}
},
"observation.images.exterior_2_left": {
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3
],
"names": [
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"video.codec": "av1",
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},
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},
"action.gripper_velocity": {
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"names": {
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}
},
"action.cartesian_position": {
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"names": {
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}
},
"action.cartesian_velocity": {
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"shape": [
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"names": {
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"z",
"roll",
"pitch",
"yaw"
]
}
},
"action.joint_position": {
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"shape": [
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],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"action.joint_velocity": {
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"shape": [
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],
"names": {
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"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"action.original": {
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"shape": [
7
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"action": {
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"shape": [
8
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
}
},
"discount": {
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"shape": [
1
],
"names": null
},
"reward": {
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"shape": [
1
],
"names": null
},
"task_category": {
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"shape": [
1
],
"names": null
},
"building": {
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"shape": [
1
],
"names": null
},
"collector_id": {
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"shape": [
1
],
"names": null
},
"date": {
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"shape": [
1
],
"names": null
},
"camera_extrinsics.wrist_left": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"camera_extrinsics.exterior_1_left": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"camera_extrinsics.exterior_2_left": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"is_episode_successful": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"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": {
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"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

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

## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache-2.0

## 数据集结构
元信息文件`meta/info.json`包含以下内容：
json
{
"代码库版本": "v2.1",
"机器人类型": "Franka",
"总回合数": 95600,
"总帧数": 27612581,
"总任务数": 0,
"总视频数": 286800,
"总数据块数": 95,
"单数据块大小": 1000,
"帧率": 15,
"数据集划分": {
"训练集": "0:95600"
},
"数据文件路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"回合起始标记": {
"数据类型": "bool",
"形状": [1],
"维度名称": null
},
"回合结束标记": {
"数据类型": "bool",
"形状": [1],
"维度名称": null
},
"回合终止标记": {
"数据类型": "bool",
"形状": [1],
"维度名称": null
},
"语言指令": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"语言指令2": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"语言指令3": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"观测状态.夹爪位置": {
"数据类型": "float32",
"形状": [1],
"维度名称": {
"轴": ["夹爪"]
}
},
"观测状态.笛卡尔位置": {
"数据类型": "float32",
"形状": [6],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"观测状态.关节位置": {
"数据类型": "float32",
"形状": [7],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"观测状态": {
"数据类型": "float32",
"形状": [8],
"维度名称": {
"轴": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪"]
}
},
"观测图像.左侧腕部相机": {
"数据类型": "video",
"形状": [180, 320, 3],
"维度名称": ["高度", "宽度", "通道数"],
"附加信息": {
"视频帧率": 15.0,
"视频高度": 180,
"视频宽度": 320,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.左侧外部1号相机": {
"数据类型": "video",
"形状": [180, 320, 3],
"维度名称": ["高度", "宽度", "通道数"],
"附加信息": {
"视频帧率": 15.0,
"视频高度": 180,
"视频宽度": 320,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.左侧外部2号相机": {
"数据类型": "video",
"形状": [180, 320, 3],
"维度名称": ["高度", "宽度", "通道数"],
"附加信息": {
"视频帧率": 15.0,
"视频高度": 180,
"视频宽度": 320,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"动作.夹爪位置": {
"数据类型": "float32",
"形状": [1],
"维度名称": {
"轴": ["夹爪"]
}
},
"动作.夹爪速度": {
"数据类型": "float32",
"形状": [1],
"维度名称": {
"轴": ["夹爪"]
}
},
"动作.笛卡尔位置": {
"数据类型": "float32",
"形状": [6],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"动作.笛卡尔速度": {
"数据类型": "float32",
"形状": [6],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"动作.关节位置": {
"数据类型": "float32",
"形状": [7],
"维度名称": {
"轴": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"]
}
},
"动作.关节速度": {
"数据类型": "float32",
"形状": [7],
"维度名称": {
"轴": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"]
}
},
"动作.原始动作": {
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"形状": [7],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航", "夹爪"]
}
},
"动作": {
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"形状": [8],
"维度名称": {
"轴": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪"]
}
},
"折扣因子": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"奖励值": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"任务类别": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"采集场景": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"采集者ID": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"采集日期": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"相机外参.左侧腕部相机": {
"数据类型": "float32",
"形状": [6],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"相机外参.左侧外部1号相机": {
"数据类型": "float32",
"形状": [6],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"相机外参.左侧外部2号相机": {
"数据类型": "float32",
"形状": [6],
"维度名称": {
"轴": ["x", "y", "z", "横滚", "俯仰", "偏航"]
}
},
"回合成功标记": {
"数据类型": "bool",
"形状": [1],
"维度名称": null
},
"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
},
"回合索引": {
"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格式引用**：
bibtex
[需补充更多信息]