nyu_door_opening_surprising_effectiveness

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description - **Homepage:** https://jyopari.github.io/VINN/ - **Paper:** https://arxiv.org/abs/2112.01511 - **License:** mit ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v2.0", "robot_type": "unknown", "total_episodes": 484, "total_frames": 20405, "total_tasks": 1, "total_videos": 484, "total_chunks": 1, "chunks_size": 1000, "fps": 3, "splits": { "train": "0:484" }, "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": [ 720, 960, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 3.0, "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{pari2021surprising, title={The Surprising Effectiveness of Representation Learning for Visual Imitation}, author={Jyothish Pari and Nur Muhammad Shafiullah and Sridhar Pandian Arunachalam and Lerrel Pinto}, year={2021}, eprint={2112.01511}, archivePrefix={arXiv}, primaryClass={cs.RO} } ```本数据集基于LeRobot（https://github.com/huggingface/lerobot）构建。 ## 数据集说明 - **项目主页**：https://jyopari.github.io/VINN/ - **相关论文**：https://arxiv.org/abs/2112.01511 - **开源许可**：MIT ## 数据集结构 `meta/info.json`: json { "codebase_version": "v2.0", "robot_type": "未知", "total_episodes": 484, "total_frames": 20405, "total_tasks": 1, "total_videos": 484, "total_chunks": 1, "chunks_size": 1000, "fps": 3, "splits": { "train": "0:484" }, "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": "视频", "shape": [ 720, 960, 3 ], "names": [ "高度", "宽度", "通道" ], "video_info": { "video.fps": 3.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "language_instruction": { "dtype": "字符串", "shape": [ 1 ], "names": null }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "电机": [ "motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6", "motor_7" ] } }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "电机": [ "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": "布尔值", "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 @misc{pari2021surprising, title={《视觉模仿中表征学习的惊人效能》}, author={Jyothish Pari, Nur Muhammad Shafiullah, Sridhar Pandian Arunachalam, Lerrel Pinto}, year={2021}, eprint={2112.01511}, archivePrefix={arXiv}, primaryClass={cs.RO} }

搜集汇总

背景与挑战

背景概述

该数据集名为nyu_door_opening_surprising_effectiveness，基于LeRobot创建，用于视觉模仿研究，相关论文为《The Surprising Effectiveness of Representation Learning for Visual Imitation》。数据集包含484个训练集视频，总计20405帧，帧率为3fps，特征涵盖图像、机器人状态和动作等。