kaist_nonprehensile
收藏魔搭社区2025-11-02 更新2025-02-08 收录
下载链接：
https://modelscope.cn/datasets/lerobot/kaist_nonprehensile
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资源简介：
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** https://github.com/JaeHyung-Kim/rlds_dataset_builder
- **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": 201,
"total_frames": 32429,
"total_tasks": 193,
"total_videos": 201,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:201"
},
"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": "video",
"shape": [
480,
640,
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": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
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],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
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],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
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},
"index": {
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},
"task_index": {
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}
}
}
```
## Citation
**BibTeX:**
```bibtex
@article{kimpre,
title={Pre-and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer},
author={Kim, Minchan and Han, Junhyek and Kim, Jaehyung and Kim, Beomjoon},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2023},
organization={IEEE}
}
```
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集描述
- **主页：** https://github.com/JaeHyung-Kim/rlds_dataset_builder
- **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
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 201,
"total_frames": 32429,
"total_tasks": 193,
"total_videos": 201,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:201"
},
"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": "video",
"shape": [
480,
640,
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": {
"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
}
}
}
## 引用
**BibTeX 引用：**
bibtex
@article{kimpre,
title={面向非抓取操作的接触前后策略分解与零样本（Zero-shot）sim-to-real迁移},
author={Kim, Minchan and Han, Junhyek and Kim, Jaehyung and Kim, Beomjoon},
booktitle={2023年IEEE/RSJ智能机器人与系统国际会议(IROS)},
year={2023},
organization={IEEE}
}
提供机构：
maas
创建时间：
2025-02-06
