BlankHead/Roboverse_Dataset_Libero

--- 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=BlankHead/Roboverse_Dataset_Libero"> <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": "Panda", "total_episodes": 207, "total_frames": 30774, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:207" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": null, "features": { "is_first": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_last": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_terminal": { "dtype": "bool", "shape": [ 1 ], "names": null }, "language_instruction": { "dtype": "string", "shape": [ 1 ], "names": null }, "observation.images.image_0": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.images.image_1": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.state": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "eef_x", "eef_y", "eef_z", "eef_roll", "eef_pitch", "eef_yaw", "gripper" ] } }, "observation.eef_state": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "observation.gripper_state": { "dtype": "float32", "shape": [ 1 ], "names": null }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "dx", "dy", "dz", "droll", "dpitch", "dyaw", "gripper" ] } }, "discount": { "dtype": "float32", "shape": [ 1 ], "names": null }, "reward": { "dtype": "float32", "shape": [ 1 ], "names": null }, "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 task_categories: - 机器人学 tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=BlankHead/Roboverse_Dataset_Libero"> <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](meta/info.json): json { "codebase_version": "v3.0", "robot_type": "Panda", "total_episodes": 207, "total_frames": 30774, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:207" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": null, "features": { "is_first": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_last": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_terminal": { "dtype": "bool", "shape": [ 1 ], "names": null }, "language_instruction": { "dtype": "string", "shape": [ 1 ], "names": null }, "observation.images.image_0": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.images.image_1": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.state": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "eef_x", "eef_y", "eef_z", "eef_roll", "eef_pitch", "eef_yaw", "gripper" ] } }, "observation.eef_state": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "observation.gripper_state": { "dtype": "float32", "shape": [ 1 ], "names": null }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "dx", "dy", "dz", "droll", "dpitch", "dyaw", "gripper" ] } }, "discount": { "dtype": "float32", "shape": [ 1 ], "names": null }, "reward": { "dtype": "float32", "shape": [ 1 ], "names": null }, "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 } } } ## 引用 **BibTeX:** bibtex [需补充更多信息]