villekuosmanen/rl_build_block_tower_pi_rlt

--- 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). ## 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": "arx5", "total_episodes": 48, "total_frames": 7727, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:48" }, "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.pos": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "action.velocity": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "action.effort": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "action.eef_pose": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "observation.state.pos": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "observation.state.velocity": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "observation.state.effort": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "observation.state.eef_pose": { "dtype": "float32", "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ], "shape": [ 7 ] }, "observation.images.front": { "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": 20, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "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": 20, "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 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)框架构建。 ## 数据集说明 - **主页：** [待补充更多信息] - **论文：** [待补充更多信息] - **许可证：** Apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "codebase_version": "v3.0", "robot_type": "arx5", "total_episodes": 48, "total_frames": 7727, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:48" }, "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.pos": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "action.velocity": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "action.effort": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "action.eef_pose": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "observation.state.pos": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "observation.state.velocity": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "observation.state.effort": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "observation.state.eef_pose": { "dtype": "float32", "names": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"], "shape": [7] }, "observation.images.front": { "dtype": "video", "shape": [480, 640, 3], "names": ["高度", "宽度", "通道数"], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [480, 640, 3], "names": ["高度", "宽度", "通道数"], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "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 } } } ## 引用 **BibTeX:** bibtex [待补充更多信息]