metaworld_mt50

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": "v3.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": null
},
"fps": 80
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": [
"x",
"y",
"z",
"gripper"
]
},
"fps": 80
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 80
},
"next.success": {
"dtype": "bool",
"shape": [
1
],
"names": null,
"fps": 80
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
39
],
"names": [
"keypoints"
],
"fps": 80
},
"observation.image": {
"dtype": "image",
"shape": [
3,
480,
480
],
"names": [
"channels",
"height",
"width"
],
"fps": 80
},
"task_id": {
"dtype": "int16",
"shape": [
1
],
"names": null,
"fps": 80
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 80
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
```

## 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

文件[meta/info.json](meta/info.json)内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "MetaWorld",
"总回合数": 2500,
"总帧数": 204806,
"总任务数": 49,
"分块大小": 1000,
"帧率": 80,
"数据集划分": {
"训练集": "0:2500"
},
"数据路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"观测.状态": {
"数据类型": "float32",
"形状": [
4
],
"轴名称": {
"axes": null
},
"帧率": 80
},
"动作": {
"数据类型": "float32",
"形状": [
4
],
"轴名称": {
"axes": [
"x",
"y",
"z",
"夹爪"
]
},
"帧率": 80
},
"下一时刻奖励": {
"数据类型": "float32",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"下一时刻任务成功标志": {
"数据类型": "bool",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"观测.环境状态": {
"数据类型": "float32",
"形状": [
39
],
"轴名称": [
"关键点"
],
"帧率": 80
},
"观测.图像": {
"数据类型": "图像",
"形状": [
3,
480,
480
],
"轴名称": [
"通道",
"高度",
"宽度"
],
"帧率": 80
},
"任务ID": {
"数据类型": "int16",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"轴名称": null,
"帧率": 80
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"轴名称": null,
"帧率": 80
}
},
"数据文件总大小（单位MB）": 100,
"视频文件总大小（单位MB）": 500
}

## 引用

**BibTeX格式引用**：
bibtex
[需补充更多信息]

搜集汇总

背景与挑战

背景概述

metaworld_mt50是一个由LeRobot创建的多任务机器人操作数据集，包含2500个episodes和49个不同任务的高帧率(80fps)记录数据，数据规模达45.86GB。数据集提供了丰富的机器人操作特征，包括状态观测、动作、奖励、环境状态和480x480分辨率的图像数据。