continuallearning/eval_baseline2_seqlora_real3_on_real3_seed1000

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=continuallearning/eval_baseline2_seqlora_real3_on_real3_seed1000"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": "franka", "total_episodes": 10, "total_frames": 2121, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 1, "video_files_size_in_mb": 1, "fps": 15, "splits": { "train": "0:10" }, "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.images.primary": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.fps": 15.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.fps": 15.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.state.cartesian": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.state.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "observation.state.joints": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "observation.state.target": { "dtype": "float32", "shape": [ 6 ], "names": [ "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw" ] }, "observation.state": { "dtype": "float32", "shape": [ 20 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper", "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] }, "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] ```license: Apache-2.0 许可证 任务类别： - 机器人学 (robotics) 标签： - LeRobot 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集由[LeRobot (LeRobot)](https://github.com/huggingface/lerobot)工具库构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=continuallearning/eval_baseline2_seqlora_real3_on_real3_seed1000"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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 `meta/info.json`文件内容如下： json { "代码库版本": "v3.0", "机器人类型": "弗兰克协作机器人 (Franka)", "总轨迹数": 10, "总帧数": 2121, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 1, "视频文件总大小（MB）": 1, "帧率": 15, "数据集划分": { "训练集": "0:10" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测.图像.主摄像头": { "数据类型": "视频", "尺寸": [ 256, 256, 3 ], "维度含义": [ "高度", "宽度", "通道数" ], "视频信息": { "视频帧率": 15.0, "视频编码": "av1", "像素格式": "yuv420p", "是否为深度图": false, "是否含音频": false }, "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 15, "通道数": 3, "是否含音频": false } }, "观测.图像.腕部摄像头": { "数据类型": "视频", "尺寸": [ 256, 256, 3 ], "维度含义": [ "高度", "宽度", "通道数" ], "视频信息": { "视频帧率": 15.0, "视频编码": "av1", "像素格式": "yuv420p", "是否为深度图": false, "是否含音频": false }, "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 15, "通道数": 3, "是否含音频": false } }, "观测.状态.笛卡尔位姿": { "数据类型": "float32", "尺寸": [ 6 ], "维度含义": [ "x坐标", "y坐标", "z坐标", "滚转角", "俯仰角", "偏航角" ] }, "观测.状态.夹爪开度": { "数据类型": "float32", "尺寸": [ 1 ], "维度含义": [ "夹爪开度" ] }, "观测.状态.关节角度": { "数据类型": "float32", "尺寸": [ 7 ], "维度含义": [ "关节0角度", "关节1角度", "关节2角度", "关节3角度", "关节4角度", "关节5角度", "关节6角度" ] }, "观测.状态.目标位姿": { "数据类型": "float32", "尺寸": [ 6 ], "维度含义": [ "目标x坐标", "目标y坐标", "目标z坐标", "目标滚转角", "目标俯仰角", "目标偏航角" ] }, "观测.状态": { "数据类型": "float32", "尺寸": [ 20 ], "维度含义": [ "x坐标", "y坐标", "z坐标", "滚转角", "俯仰角", "偏航角", "夹爪开度", "关节0角度", "关节1角度", "关节2角度", "关节3角度", "关节4角度", "关节5角度", "关节6角度", "目标x坐标", "目标y坐标", "目标z坐标", "目标滚转角", "目标俯仰角", "目标偏航角" ] }, "动作指令": { "数据类型": "float32", "尺寸": [ 7 ], "维度含义": [ "x坐标指令", "y坐标指令", "z坐标指令", "滚转角指令", "俯仰角指令", "偏航角指令", "夹爪开度指令" ] }, "时间戳": { "数据类型": "float32", "尺寸": [ 1 ], "维度含义": null }, "帧索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度含义": null }, "轨迹索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度含义": null }, "全局索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度含义": null }, "任务索引": { "数据类型": "int64", "尺寸": [ 1 ], "维度含义": null } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]