austin_buds_dataset

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

## Dataset Description

- **Homepage:** https://ut-austin-rpl.github.io/BUDS-website/
- **Paper:** https://arxiv.org/abs/2109.13841
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 50,
"total_frames": 34112,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:50"
},
"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": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"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": [
24
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18",
"motor_19",
"motor_20",
"motor_21",
"motor_22",
"motor_23"
]
}
},
"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
@article{zhu2022bottom,
title={Bottom-Up Skill Discovery From Unsegmented Demonstrations for Long-Horizon Robot Manipulation},
author={Zhu, Yifeng and Stone, Peter and Zhu, Yuke},
journal={IEEE Robotics and Automation Letters},
volume={7},
number={2},
pages={4126--4133},
year={2022},
publisher={IEEE}
}
```

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

## 数据集说明

- **"主页"**：https://ut-austin-rpl.github.io/BUDS-website/
- **"论文"**：https://arxiv.org/abs/2109.13841
- **"许可证"**：MIT

## 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": 50,
"总帧数": 34112,
"总任务数": 1,
"总视频数": 100,
"总分片数": 1,
"分片大小": 1000,
"帧率": 5,
"划分方式": {
"训练集": "0:50"
},
"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.主视觉": {
"数据类型": "视频",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 5.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"含音频": false
}
},
"观测.图像.腕部视觉": {
"数据类型": "视频",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 5.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"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": [
24
],
"维度名称": {
"电机": [
"电机_0",
"电机_1",
"电机_2",
"电机_3",
"电机_4",
"电机_5",
"电机_6",
"电机_7",
"电机_8",
"电机_9",
"电机_10",
"电机_11",
"电机_12",
"电机_13",
"电机_14",
"电机_15",
"电机_16",
"电机_17",
"电机_18",
"电机_19",
"电机_20",
"电机_21",
"电机_22",
"电机_23"
]
}
},
"动作": {
"数据类型": "float32",
"形状": [
7
],
"维度名称": {
"电机": [
"电机_0",
"电机_1",
"电机_2",
"电机_3",
"电机_4",
"电机_5",
"电机_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
},
"下一时刻终止标记": {
"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
}
}
}

## 引用信息

**BibTeX:**

bibtex
@article{zhu2022bottom,
title={面向长时序机器人操作任务的无分段演示自下而上技能发现},
author={Zhu, Yifeng and Stone, Peter and Zhu, Yuke},
journal={IEEE机器人与自动化快报},
volume={7},
number={2},
pages={4126--4133},
year={2022},
publisher={IEEE}
}

搜集汇总

背景与挑战

背景概述

austin_buds_dataset是一个用于机器人操作任务的数据集，包含50个episodes、34112帧和100个视频，数据以视频和状态观测为主。数据集基于MIT许可证发布，相关论文发表在IEEE Robotics and Automation Letters上。