columbia_cairlab_pusht_real
收藏魔搭社区2025-11-12 更新2025-02-08 收录
下载链接：
https://modelscope.cn/datasets/lerobot/columbia_cairlab_pusht_real
下载链接
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资源简介：
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** https://diffusion-policy.cs.columbia.edu/
- **Paper:** https://arxiv.org/abs/2303.04137v5
- **License:** mit
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 136,
"total_frames": 27808,
"total_tasks": 1,
"total_videos": 272,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:136"
},
"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.wrist_image": {
"dtype": "video",
"shape": [
240,
320,
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": {
"dtype": "video",
"shape": [
240,
320,
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
@inproceedings{chi2023diffusionpolicy,
title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
booktitle={Proceedings of Robotics: Science and Systems (RSS)},
year={2023}
}
```
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)搭建。
## 数据集说明
- **主页**：https://diffusion-policy.cs.columbia.edu/
- **论文**：https://arxiv.org/abs/2303.04137v5
- **许可证**：MIT
## 数据集结构
`[meta/info.json](meta/info.json)`:
json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 136,
"total_frames": 27808,
"total_tasks": 1,
"total_videos": 272,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:136"
},
"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.wrist_image": {
"dtype": "video",
"shape": [240, 320, 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": {
"dtype": "video",
"shape": [240, 320, 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
}
}
}
## 引用信息
**BibTeX格式：**
bibtex
@inproceedings{chi2023diffusionpolicy,
title={扩散策略：基于动作扩散的视觉运动策略学习（Diffusion Policy: Visuomotor Policy Learning via Action Diffusion）},
author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
booktitle={Proceedings of Robotics: Science and Systems (RSS)},
year={2023}
}
提供机构：
maas
创建时间：
2025-02-06
搜集汇总
数据集介绍
背景与挑战
背景概述
该数据集名为columbia_cairlab_pusht_real，主要用于机器人视觉运动策略学习，包含136个片段和27808帧数据，视频分辨率为240x320。数据集基于Diffusion Policy论文，采用MIT许可证。
以上内容由遇见数据集搜集并总结生成
