binhng/merged_LIBERO_lerobot_v2_IPEC_COMMUNITY

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - libero - panda - rlds 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": "franka", "total_episodes": 1693, "total_frames": 273465, "total_tasks": 40, "total_videos": 3386, "total_chunks": 2, "chunks_size": 1000, "fps": 20, "splits": { "train": "0:1693" }, "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": { "observation.images.wrist_image": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.image": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper" ] } }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "motors": [ "x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "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] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot - libero - panda - rlds 配置项： - 配置名称：default 数据文件：data/*/*.parquet 本数据集基于 [LeRobot](https://github.com/huggingface/lerobot) 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`： json { "代码库版本": "v2.1", "机器人类型": "Franka", "总回合数": 1693, "总帧数": 273465, "总任务数": 40, "总视频数": 3386, "总分片数": 2, "分片大小": 1000, "帧率": 20, "数据集划分": { "训练集": "0:1693" }, "数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "观测数据.图像集.腕部相机图像": { "数据类型": "video", "形状": [ 256, 256, 3 ], "维度名称": [ "高度", "宽度", "RGB通道" ], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否含音频": false } }, "观测数据.图像集.主相机图像": { "数据类型": "video", "形状": [ 256, 256, 3 ], "维度名称": [ "高度", "宽度", "RGB通道" ], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否含音频": false } }, "观测数据.机器人状态": { "数据类型": "float32", "形状": [ 8 ], "维度名称": { "电机维度": [ "X轴位移", "Y轴位移", "Z轴位移", "轴角1", "轴角2", "轴角3", "夹爪开度", "夹爪开度" ] } }, "控制动作": { "数据类型": "float32", "形状": [ 7 ], "维度名称": { "电机维度": [ "X轴位移", "Y轴位移", "Z轴位移", "轴角1", "轴角2", "轴角3", "夹爪开度" ] } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用信息 **BibTeX 格式引用：** bibtex [需补充更多信息]