L2D

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

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "KIA Niro EV 2023",
"total_episodes": 10,
"total_frames": 4310,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:10"
},
"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.front_left": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.front_center": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.front_right": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rear": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.map": {
"dtype": "video",
"shape": [
3,
600,
800
],
"names": [
"channel",
"height",
"width"
],
"info": {
"video.fps": 10.0,
"video.height": 600,
"video.width": 800,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state.vehicle": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"speed",
"heading",
"heading_error",
"hp_loc_latitude",
"hp_loc_longitude",
"hp_loc_altitude",
"acceleration_x",
"acceleration_y"
]
}
},
"observation.state.waypoints": {
"dtype": "float32",
"shape": [
20
],
"names": {
"axes": [
"longitude-latitude"
]
}
},
"observation.state.timestamp": {
"dtype": "int64",
"shape": [
1
],
"names": {
"axes": [
"unix_epoc_timestamp"
]
}
},
"action.continuous": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"gas_pedal_normalized",
"brake_pedal_normalized",
"steering_angle_normalized"
]
}
},
"action.discrete": {
"dtype": "int32",
"shape": [
2
],
"names": {
"axes": [
"gear",
"turn_signal"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

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

## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"codebase_version": "v2.0",
"robot_type": "起亚极睿EV 2023款（KIA Niro EV 2023）",
"total_episodes": 10,
"total_frames": 4310,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:10"
},
"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.front_left": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.front_center": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.front_right": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_forward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_backward": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rear": {
"dtype": "video",
"shape": [
3,
1080,
1920
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.map": {
"dtype": "video",
"shape": [
3,
600,
800
],
"names": [
"通道",
"高度",
"宽度"
],
"info": {
"video.fps": 10.0,
"video.height": 600,
"video.width": 800,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state.vehicle": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"车速",
"航向角",
"航向误差",
"Home位置纬度",
"Home位置经度",
"Home位置海拔",
"X方向加速度",
"Y方向加速度"
]
}
},
"observation.state.waypoints": {
"dtype": "float32",
"shape": [
20
],
"names": {
"axes": [
"经纬度"
]
}
},
"observation.state.timestamp": {
"dtype": "int64",
"shape": [
1
],
"names": {
"axes": [
"Unix纪元时间戳"
]
}
},
"action.continuous": {
"dtype": "float32",
"shape": [
3
],
"names": {
"axes": [
"归一化油门踏板开度",
"归一化制动踏板开度",
"归一化转向角"
]
}
},
"action.discrete": {
"dtype": "int32",
"shape": [
2
],
"names": {
"axes": [
"挡位",
"转向灯状态"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}

## 引用
**BibTeX格式引用**：
bibtex
[需补充更多信息]