xarm_push_medium

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

## Dataset Description

- **Homepage:** https://www.nicklashansen.com/td-mpc/
- **Paper:** https://arxiv.org/abs/2203.04955
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"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.image": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
4
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3"
]
}
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2"
]
}
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"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{Hansen2022tdmpc,
title={Temporal Difference Learning for Model Predictive Control},
author={Nicklas Hansen and Xiaolong Wang and Hao Su},
booktitle={ICML},
year={2022}
}

```

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

## 数据集说明
- **主页**：https://www.nicklashansen.com/td-mpc/
- **论文**：https://arxiv.org/abs/2203.04955
- **许可证**：MIT许可证

## 数据集结构
文件[meta/info.json](meta/info.json)的内容如下：
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总回合数": 800,
"总帧数": 20000,
"总任务数": 1,
"总视频数": 800,
"总块数": 1,
"块大小": 1000,
"帧率": 15,
"划分方式": {
"训练集": "0:800"
},
"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（observation.image）": {
"数据类型": "视频",
"形状": [
84,
84,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频帧率": 15.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测状态（observation.state）": {
"数据类型": "float32（32位浮点型）",
"形状": [
4
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3"
]
}
},
"动作（action）": {
"数据类型": "float32（32位浮点型）",
"形状": [
3
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2"
]
}
},
"回合索引（episode_index）": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"维度名称": null
},
"时间戳（timestamp）": {
"数据类型": "float32（32位浮点型）",
"形状": [
1
],
"维度名称": null
},
"下一时刻奖励（next.reward）": {
"数据类型": "float32（32位浮点型）",
"形状": [
1
],
"维度名称": null
},
"下一时刻终止标志（next.done）": {
"数据类型": "bool（布尔型）",
"形状": [
1
],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"维度名称": null
}
}
}

## 引用
**BibTeX格式：**
bibtex
@inproceedings{Hansen2022tdmpc,
title={模型预测控制的时序差分学习（Temporal Difference Learning for Model Predictive Control）},
author={Nicklas Hansen and Xiaolong Wang and Hao Su},
booktitle={国际机器学习大会（ICML）},
year={2022}
}