berkeley_autolab_ur5

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

## Dataset Description

- **Homepage:** https://sites.google.com/view/berkeley-ur5/home
- **Paper:** [More Information Needed]
- **License:** cc-by-4.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 1000,
"total_frames": 97939,
"total_tasks": 5,
"total_videos": 3000,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:1000"
},
"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_with_depth": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.hand_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"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": {
"dtype": "float32",
"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
@misc{BerkeleyUR5Website,
title = {Berkeley {UR5} Demonstration Dataset},
author = {Lawrence Yunliang Chen and Simeon Adebola and Ken Goldberg},
howpublished = {https://sites.google.com/view/berkeley-ur5/home},
}
```

本数据集基于LeRobot（LeRobot）构建，相关仓库链接为：https://github.com/huggingface/lerobot。

## 数据集说明
- **主页**：https://sites.google.com/view/berkeley-ur5/home
- **论文**：[更多信息待补充]
- **许可证**：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",
"总回合数": 1000,
"总帧数": 97939,
"总任务数": 5,
"总视频数": 3000,
"总分片数": 1,
"分片大小": 1000,
"帧率": 5,
"数据集划分": {
"训练集": "0:1000"
},
"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.图像.带深度图像": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 5.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"视频是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.普通图像": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 5.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"视频是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.手部图像": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 5.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"视频是否为深度图": false,
"是否含音频": false
}
},
"语言指令": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"观测.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
},
"回合索引": {
"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
},
"下一时刻终止标记": {
"数据类型": "布尔值",
"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
}
}
}

## 引用格式
**BibTeX格式：**
bibtex
@misc{BerkeleyUR5Website,
title = {伯克利UR5演示数据集},
author = {Lawrence Yunliang Chen 与 Simeon Adebola 与 Ken Goldberg},
howpublished = {https://sites.google.com/view/berkeley-ur5/home},
}

搜集汇总

背景与挑战

背景概述

berkeley_autolab_ur5是一个由LeRobot创建的机器人研究数据集，包含1000个episodes、97939帧和3000个视频，视频分辨率为480x640，帧率为5fps。数据集提供了机器人状态、动作和语言指令等多种特征，适用于机器人学习和控制任务的研究。