franka_multi_task_v1_img

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": null,
"total_episodes": 200,
"total_frames": 75843,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:200"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
],
"fps": 10
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
],
"fps": 10
},
"observation.images.wrist_camera": {
"shape": [
3,
720,
1280
],
"names": [
"channels",
"height",
"width"
],
"fps": 10,
"dtype": "image"
},
"observation.images.side_camera": {
"shape": [
3,
720,
1280
],
"names": [
"channels",
"height",
"width"
],
"fps": 10,
"dtype": "image"
},
"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。

## 数据集描述

- **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
{
"代码库版本（codebase_version）": "v3.0",
"机器人类型（robot_type）": null,
"总回合数（total_episodes）": 200,
"总帧数（total_frames）": 75843,
"总任务数（total_tasks）": 4,
"分块大小（chunks_size）": 1000,
"数据文件总大小（MB）（data_files_size_in_mb）": 100,
"视频文件总大小（MB）（video_files_size_in_mb）": 500,
"帧率（fps）": 10,
"数据集划分（splits）": {
"训练集（train）": "0:200"
},
"数据文件路径格式（data_path）": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式（video_path）": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征项（features）": {
"动作（action）": {
"数据类型（dtype）": "32位浮点型（float32）",
"维度形状（shape）": [
8
],
"字段名称（names）": [
"关节0（joint_0）",
"关节1（joint_1）",
"关节2（joint_2）",
"关节3（joint_3）",
"关节4（joint_4）",
"关节5（joint_5）",
"关节6（joint_6）",
"夹爪（gripper）"
],
"帧率（fps）": 10
},
"观测状态（observation.state）": {
"数据类型（dtype）": "32位浮点型（float32）",
"维度形状（shape）": [
8
],
"字段名称（names）": [
"关节0（joint_0）",
"关节1（joint_1）",
"关节2（joint_2）",
"关节3（joint_3）",
"关节4（joint_4）",
"关节5（joint_5）",
"关节6（joint_6）",
"夹爪（gripper）"
],
"帧率（fps）": 10
},
"腕部相机图像观测（observation.images.wrist_camera）": {
"维度形状（shape）": [
3,
720,
1280
],
"维度含义（names）": [
"通道数",
"高度",
"宽度"
],
"帧率（fps）": 10,
"数据类型（dtype）": "图像类型（image）"
},
"侧面相机图像观测（observation.images.side_camera）": {
"维度形状（shape）": [
3,
720,
1280
],
"维度含义（names）": [
"通道数",
"高度",
"宽度"
],
"帧率（fps）": 10,
"数据类型（dtype）": "图像类型（image）"
},
"时间戳（timestamp）": {
"数据类型（dtype）": "32位浮点型（float32）",
"维度形状（shape）": [
1
],
"字段名称（names）": null
},
"帧索引（frame_index）": {
"数据类型（dtype）": "64位整型（int64）",
"维度形状（shape）": [
1
],
"字段名称（names）": null
},
"回合索引（episode_index）": {
"数据类型（dtype）": "64位整型（int64）",
"维度形状（shape）": [
1
],
"字段名称（names）": null
},
"全局索引（index）": {
"数据类型（dtype）": "64位整型（int64）",
"维度形状（shape）": [
1
],
"字段名称（names）": null
},
"任务索引（task_index）": {
"数据类型（dtype）": "64位整型（int64）",
"维度形状（shape）": [
1
],
"字段名称（names）": null
}
}
}

## 引用

**BibTeX格式：**

bibtex
[需补充更多信息]