berkeley_cable_routing

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** https://sites.google.com/view/cablerouting/home
- **Paper:** https://arxiv.org/abs/2307.08927
- **License:** cc-by-4.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 1647,
"total_frames": 42328,
"total_tasks": 1,
"total_videos": 6588,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1647"
},
"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": {
"observation.images.top_image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist225_image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist45_image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
@article{luo2023multistage,
author = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
title = {Multi-Stage Cable Routing through Hierarchical Imitation Learning},
journal = {arXiv pre-print},
year = {2023},
url = {https://arxiv.org/abs/2307.08927},
}
```

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

## 数据集说明
- **项目主页**：https://sites.google.com/view/cablerouting/home
- **关联论文**：https://arxiv.org/abs/2307.08927
- **授权协议**：cc-by-4.0

## 数据集结构
`[meta/info.json](meta/info.json)`:
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总轨迹数": 1647,
"总帧数": 42328,
"总任务数": 1,
"总视频数": 6588,
"总分片数": 2,
"单分片数据量": 1000,
"帧率": 10,
"数据划分": {
"训练集": "0:1647"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测数据.图像.顶部摄像头图像": {
"数据类型": "视频",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频.帧率": 10.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"观测数据.图像.腕部225°摄像头图像": {
"数据类型": "视频",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频.帧率": 10.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"观测数据.图像.腕部45°摄像头图像": {
"数据类型": "视频",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频.帧率": 10.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"观测数据.图像.通用摄像头图像": {
"数据类型": "视频",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频.帧率": 10.0,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"语言指令": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"观测数据.状态": {
"数据类型": "float32",
"形状": [
8
],
"维度名称": {
"电机": [
"电机_0",
"电机_1",
"电机_2",
"电机_3",
"电机_4",
"电机_5",
"电机_6",
"电机_7"
]
}
},
"动作": {
"数据类型": "float32",
"形状": [
7
],
"维度名称": {
"电机": [
"电机_0",
"电机_1",
"电机_2",
"电机_3",
"电机_4",
"电机_5",
"电机_6"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"下一时刻奖励": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"下一时刻终止标志": {
"数据类型": "bool",
"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
}
}
}

## 引用信息
**BibTeX格式：**
bibtex
@article{luo2023multistage,
作者 = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
标题 = {基于分层模仿学习的多阶段线缆布线},
期刊 = {arXiv预印本},
年份 = {2023},
网址 = {https://arxiv.org/abs/2307.08927},
}