utokyo_xarm_bimanual

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

## Dataset Description

- **Homepage:** [More Information Needed]
- **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": 70,
"total_frames": 1514,
"total_tasks": 2,
"total_videos": 70,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:70"
},
"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": [
256,
256,
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
@misc{matsushima2023weblab,
title={Weblab xArm Dataset},
author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},
year={2023},
}
```

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

## 数据集说明
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可协议**：知识共享署名4.0（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": 70,
"总帧数": 1514,
"总任务数": 2,
"总视频数": 70,
"总分片数": 1,
"分片大小": 1000,
"帧率": 10,
"数据集划分": {
"训练集": "0:70"
},
"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.图像": {
"数据类型": "视频",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 10.0,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": 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": [
"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
],
"维度名称": {
"电机": [
"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
},
"回合结束标记": {
"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
**BibTeX:**
bibtex
@misc{matsushima2023weblab,
title={Weblab xArm 数据集},
author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},
year={2023},
}

搜集汇总

背景与挑战

背景概述

该数据集是一个用于双机械臂控制研究的机器人数据集，包含70个任务episodes和1514帧视频观测数据，具有256x256分辨率和10fps帧率，同时记录8个电机状态和7个动作控制信号，适用于机器人强化学习研究。