libero_spatial_image

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": "v2.0",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:432"
},
"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.image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"rx",
"ry",
"rz",
"rw",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"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]
```

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

## 数据集描述

- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可协议**：apache-2.0

## 数据集结构

`[meta/info.json](meta/info.json)`:
json
{
"代码库版本": "v2.0",
"机器人类型": "panda",
"总轨迹数": 432,
"总帧数": 52970,
"总任务数": 10,
"总视频数": 0,
"总分片数": 1,
"分片大小": 1000,
"帧率": 10,
"数据集划分": {
"训练集": "0:432"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测数据.图像.主摄像头图像": {
"数据类型": "图像",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测数据.图像.腕部摄像头图像": {
"数据类型": "图像",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测状态": {
"数据类型": "float32",
"形状": [
8
],
"维度含义": {
"电机关节": [
"x轴位移",
"y轴位移",
"z轴位移",
"rx旋转分量",
"ry旋转分量",
"rz旋转分量",
"rw旋转分量",
"夹爪开度"
]
}
},
"动作指令": {
"数据类型": "float32",
"形状": [
7
],
"维度含义": {
"电机关节": [
"x轴位移",
"y轴位移",
"z轴位移",
"滚转角",
"俯仰角",
"偏航角",
"夹爪开度"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度含义": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度含义": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [
1
],
"维度含义": null
},
"样本索引": {
"数据类型": "int64",
"形状": [
1
],
"维度含义": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度含义": null
}
}
}

## 引用

**BibTeX格式**：
bibtex
[需补充更多信息]