Rick0331/openarm-categorize_tableware_merged1

--- 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=Rick0331/openarm-categorize_tableware_merged1"> <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": "openarm_follower", "total_episodes": 119, "total_frames": 194927, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:119" }, "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": [ 24 ], "names": [ "joint_1.pos", "joint_1.vel", "joint_1.torque", "joint_2.pos", "joint_2.vel", "joint_2.torque", "joint_3.pos", "joint_3.vel", "joint_3.torque", "joint_4.pos", "joint_4.vel", "joint_4.torque", "joint_5.pos", "joint_5.vel", "joint_5.torque", "joint_6.pos", "joint_6.vel", "joint_6.torque", "joint_7.pos", "joint_7.vel", "joint_7.torque", "gripper.pos", "gripper.vel", "gripper.torque" ] }, "observation.state": { "dtype": "float32", "shape": [ 24 ], "names": [ "joint_1.pos", "joint_1.vel", "joint_1.torque", "joint_2.pos", "joint_2.vel", "joint_2.torque", "joint_3.pos", "joint_3.vel", "joint_3.torque", "joint_4.pos", "joint_4.vel", "joint_4.torque", "joint_5.pos", "joint_5.vel", "joint_5.torque", "joint_6.pos", "joint_6.vel", "joint_6.torque", "joint_7.pos", "joint_7.vel", "joint_7.torque", "gripper.pos", "gripper.vel", "gripper.torque" ] }, "observation.images.top": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "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] ```--- 许可证：apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：默认 数据文件：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=Rick0331/openarm-categorize_tableware_merged1"> <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 { "代码库版本": "v3.0", "机器人类型": "openarm_follower", "总回合数": 119, "总帧数": 194927, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 30, "数据集划分": { "训练集": "0:119" }, "数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征字段": { "动作": { "数据类型": "float32", "形状": [ 24 ], "字段名称": [ "关节1位置", "关节1速度", "关节1扭矩", "关节2位置", "关节2速度", "关节2扭矩", "关节3位置", "关节3速度", "关节3扭矩", "关节4位置", "关节4速度", "关节4扭矩", "关节5位置", "关节5速度", "关节5扭矩", "关节6位置", "关节6速度", "关节6扭矩", "关节7位置", "关节7速度", "关节7扭矩", "夹爪位置", "夹爪速度", "夹爪扭矩" ] }, "观测状态": { "数据类型": "float32", "形状": [ 24 ], "字段名称": [ "关节1位置", "关节1速度", "关节1扭矩", "关节2位置", "关节2速度", "关节2扭矩", "关节3位置", "关节3速度", "关节3扭矩", "关节4位置", "关节4速度", "关节4扭矩", "关节5位置", "关节5速度", "关节5扭矩", "关节6位置", "关节6速度", "关节6扭矩", "关节7位置", "关节7速度", "关节7扭矩", "夹爪位置", "夹爪速度", "夹爪扭矩" ] }, "顶部视角图像": { "数据类型": "视频", "形状": [ 720, 1280, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 720, "视频宽度": 1280, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "腕部视角图像": { "数据类型": "视频", "形状": [ 720, 1280, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 720, "视频宽度": 1280, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 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 }, "回合索引": { "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格式引用：** bibtex [需补充更多信息]