jaco_play

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

## Dataset Description

- **Homepage:** https://github.com/clvrai/clvr_jaco_play_dataset
- **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": 1085,
"total_frames": 77965,
"total_tasks": 89,
"total_videos": 2170,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1085"
},
"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": [
224,
224,
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_wrist": {
"dtype": "video",
"shape": [
224,
224,
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
}
}
}
```

## Citation

**BibTeX:**

```bibtex
@software{dass2023jacoplay,
author = {Dass, Shivin and Yapeter, Jullian and Zhang, Jesse and Zhang, Jiahui
and Pertsch, Karl and Nikolaidis, Stefanos and Lim, Joseph J.},
title = {CLVR Jaco Play Dataset},
url = {https://github.com/clvrai/clvr_jaco_play_dataset},
version = {1.0.0},
year = {2023}
}
```

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

## 数据集说明

- **主页**：https://github.com/clvrai/clvr_jaco_play_dataset
- **论文**：[需补充更多信息]
- **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": 1085,
"总帧数": 77965,
"总任务数": 89,
"总视频数": 2170,
"总数据块数": 2,
"数据块大小": 1000,
"帧率": 10,
"划分方式": {
"训练集": "0:1085"
},
"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.主摄像头": {
"数据类型": "video",
"形状": [
224,
224,
3
],
"维度命名": [
"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",
"是否为深度图": false,
"包含音频": false
}
},
"观测.图像.腕部摄像头": {
"数据类型": "video",
"形状": [
224,
224,
3
],
"维度命名": [
"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",
"是否为深度图": false,
"包含音频": false
}
},
"语言指令": {
"数据类型": "string",
"形状": [
1
],
"维度命名": null
},
"观测.状态": {
"数据类型": "float32",
"形状": [
8
],
"维度命名": {
"电机组": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"动作": {
"数据类型": "float32",
"形状": [
7
],
"维度命名": {
"电机组": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度命名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度命名": null
},
"后续奖励": {
"数据类型": "float32",
"形状": [
1
],
"维度命名": null
},
"后续终止标记": {
"数据类型": "bool",
"形状": [
1
],
"维度命名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"维度命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度命名": null
}
}
}

## 引用

**BibTeX引用格式**：
bibtex
@software{dass2023jacoplay,
"作者": "Dass, Shivin and Yapeter, Jullian and Zhang, Jesse and Zhang, Jiahui and Pertsch, Karl and Nikolaidis, Stefanos and Lim, Joseph J.",
"标题": "CLVR Jaco Play Dataset",
"网址": "https://github.com/clvrai/clvr_jaco_play_dataset",
"版本": "1.0.0",
"年份": "2023"
}