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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
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1
],
"names": null
},
"frame_index": {
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],
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},
"next.reward": {
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],
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},
"next.done": {
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],
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},
"index": {
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},
"task_index": {
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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}
}