utokyo_pr2_tabletop_manipulation

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

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 240,
"total_frames": 32708,
"total_tasks": 3,
"total_videos": 240,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:240"
},
"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
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"next.reward": {
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"shape": [
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],
"names": null
},
"next.done": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
@misc{oh2023pr2utokyodatasets,
author={Jihoon Oh and Naoaki Kanazawa and Kento Kawaharazuka},
title={X-Embodiment U-Tokyo PR2 Datasets},
year={2023},
url={https://github.com/ojh6404/rlds_dataset_builder},
}
```

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**：MIT许可证

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 240,
"total_frames": 32708,
"total_tasks": 3,
"total_videos": 240,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:240"
},
"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
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"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
}
}
}

## 引用
**BibTeX格式引用：**
bibtex
@misc{oh2023pr2utokyodatasets,
author={Jihoon Oh、Naoaki Kanazawa和Kento Kawaharazuka},
title={X-Embodiment 东京大学PR2数据集},
year={2023},
url={https://github.com/ojh6404/rlds_dataset_builder},
}