OliverHausdoerfer/libero_10

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - LeRobot - libero - franka 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=OliverHausdoerfer/libero_10"> <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": "franka", "total_episodes": 386, "total_frames": 102892, "total_tasks": 10, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:386" }, "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": { "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.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.state": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3", "gripper", "gripper" ] } }, "observation.states.ee_state": { "dtype": "float32", "shape": [ 6 ], "names": { "motors": [ "x", "y", "z", "axis_angle1", "axis_angle2", "axis_angle3" ] } }, "observation.states.joint_state": { "dtype": "float32", "shape": [ 7 ], "names": { "motors": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] } }, "observation.states.gripper_state": { "dtype": "float32", "shape": [ 2 ], "names": { "motors": [ "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 - LeRobot - Libero（libero） - 弗兰克机器人（Franka） 配置项： - 配置名称：默认 数据文件路径：data/*/*.parquet --- 本数据集由[LeRobot](https://github.com/huggingface/lerobot)开发构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=OliverHausdoerfer/libero_10"> <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": "弗兰克机器人（Franka）", "总回合数": 386, "总帧数": 102892, "总任务数": 10, "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（FPS）": 20, "数据集划分": { "训练集": "0:386" }, "数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "观测数据.图像.主摄像头图像": { "数据类型": "视频", "形状": [ 256, 256, 3 ], "维度命名": [ "高度", "宽度", "RGB通道" ], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测数据.图像.腕部摄像头图像": { "数据类型": "视频", "形状": [ 256, 256, 3 ], "维度命名": [ "高度", "宽度", "RGB通道" ], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测数据.机械臂状态": { "数据类型": "float32", "形状": [ 8 ], "维度命名": { "电机维度": [ "x", "y", "z", "轴角1", "轴角2", "轴角3", "夹爪开度", "夹爪开度" ] } }, "观测数据.末端执行器状态": { "数据类型": "float32", "形状": [ 6 ], "维度命名": { "电机维度": [ "x", "y", "z", "轴角1", "轴角2", "轴角3" ] } }, "观测数据.关节状态": { "数据类型": "float32", "形状": [ 7 ], "维度命名": { "电机维度": [ "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6" ] } }, "观测数据.夹爪状态": { "数据类型": "float32", "形状": [ 2 ], "维度命名": { "电机维度": [ "夹爪开度", "夹爪开度" ] } }, "动作指令": { "数据类型": "float32", "形状": [ 7 ], "维度命名": { "电机维度": [ "x", "y", "z", "轴角1", "轴角2", "轴角3", "夹爪开度" ] } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度命名": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度命名": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "维度命名": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "维度命名": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度命名": null } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]