pss0612/hub_dataset_02

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - tutorial configs: - config_name: default data_files: data/*/*.parquet --- 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": "v2.1", "robot_type": "koch", "total_episodes": 10, "total_frames": 3115, "total_tasks": 1, "total_videos": 20, "total_chunks": 1, "chunks_size": 1000, "fps": 60, "splits": { "train": "0:10" }, "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": { "action": { "dtype": "float32", "shape": [ 6 ], "names": [ "main_shoulder_pan", "main_shoulder_lift", "main_elbow_flex", "main_wrist_flex", "main_wrist_roll", "main_gripper" ] }, "observation.state": { "dtype": "float32", "shape": [ 6 ], "names": [ "main_shoulder_pan", "main_shoulder_lift", "main_elbow_flex", "main_wrist_flex", "main_wrist_roll", "main_gripper" ] }, "observation.images.webcam_0": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 60, "video.channels": 3, "has_audio": false } }, "observation.images.webcam_1": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 60, "video.channels": 3, "has_audio": false } }, "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（robotics） tags: - LeRobot（LeRobot） - 教程（tutorial） configs: - config_name: default data_files: data/*/*.parquet --- 本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)开发构建。 ## 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 [meta/info.json](meta/info.json): json { "代码库版本": "v2.1", "机器人类型": "koch", "总轨迹数": 10, "总帧数": 3115, "总任务数": 1, "总视频数": 20, "总分块数": 1, "分块大小": 1000, "帧率": 60, "数据集划分": { "训练集": "0:10" }, "数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "动作": { "数据类型": "float32", "形状": [ 6 ], "字段名称": [ "主肩关节旋移", "主肩关节提升", "主肘关节屈曲", "主腕关节屈曲", "主腕关节旋转", "主夹爪" ] }, "观测状态": { "数据类型": "float32", "形状": [ 6 ], "字段名称": [ "主肩关节旋移", "主肩关节提升", "主肘关节屈曲", "主腕关节屈曲", "主腕关节旋转", "主夹爪" ] }, "观测图像.摄像头0": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 60, "通道数": 3, "是否包含音频": false } }, "观测图像.摄像头1": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 60, "通道数": 3, "是否包含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null }, "轨迹索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null } } } ## 引用 **BibTeX:** bibtex [需补充更多信息]