hproc/pick_and_place

--- 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": "alohamini", "total_episodes": 2, "total_frames": 2368, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:2" }, "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.state": { "dtype": "float32", "shape": [ 12 ], "names": [ "arm_left_shoulder_pan.pos", "arm_left_shoulder_lift.pos", "arm_left_elbow_flex.pos", "arm_left_wrist_flex.pos", "arm_left_wrist_roll.pos", "arm_left_gripper.pos", "arm_right_shoulder_pan.pos", "arm_right_shoulder_lift.pos", "arm_right_elbow_flex.pos", "arm_right_wrist_flex.pos", "arm_right_wrist_roll.pos", "arm_right_gripper.pos" ] }, "action": { "dtype": "float32", "shape": [ 16 ], "names": [ "arm_left_shoulder_pan.pos", "arm_left_shoulder_lift.pos", "arm_left_elbow_flex.pos", "arm_left_wrist_flex.pos", "arm_left_wrist_roll.pos", "arm_left_gripper.pos", "arm_right_shoulder_pan.pos", "arm_right_shoulder_lift.pos", "arm_right_elbow_flex.pos", "arm_right_wrist_flex.pos", "arm_right_wrist_roll.pos", "arm_right_gripper.pos", "x.vel", "y.vel", "theta.vel", "lift_axis.vel" ] }, "observation.images.cam0": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam1": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam2": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam3": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "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: 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": "v3.0", "机器人类型": "alohamini", "总回合数": 2, "总帧数": 2368, "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, "数据集拆分": { "训练集": "0:2" }, "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", "特征项": { "观测.状态": { "数据类型": "float32", "形状": [12], "维度名称": [ "arm_left_shoulder_pan.pos", "arm_left_shoulder_lift.pos", "arm_left_elbow_flex.pos", "arm_left_wrist_flex.pos", "arm_left_wrist_roll.pos", "arm_left_gripper.pos", "arm_right_shoulder_pan.pos", "arm_right_shoulder_lift.pos", "arm_right_elbow_flex.pos", "arm_right_wrist_flex.pos", "arm_right_wrist_roll.pos", "arm_right_gripper.pos" ] }, "动作": { "数据类型": "float32", "形状": [16], "维度名称": [ "arm_left_shoulder_pan.pos", "arm_left_shoulder_lift.pos", "arm_left_elbow_flex.pos", "arm_left_wrist_flex.pos", "arm_left_wrist_roll.pos", "arm_left_gripper.pos", "arm_right_shoulder_pan.pos", "arm_right_shoulder_lift.pos", "arm_right_elbow_flex.pos", "arm_right_wrist_flex.pos", "arm_right_wrist_roll.pos", "arm_right_gripper.pos", "x方向线速度", "y方向线速度", "theta方向角速度", "升降轴线速度" ] }, "观测.图像.cam0": { "数据类型": "视频", "形状": [240, 320, 3], "维度名称": ["高度", "宽度", "通道数"], "附加信息": { "视频高度": 240, "视频宽度": 320, "视频编码格式": "h264", "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, "是否含音频": false } }, "观测.图像.cam1": { "数据类型": "视频", "形状": [240, 320, 3], "维度名称": ["高度", "宽度", "通道数"], "附加信息": { "视频高度": 240, "视频宽度": 320, "视频编码格式": "h264", "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, "是否含音频": false } }, "观测.图像.cam2": { "数据类型": "视频", "形状": [240, 320, 3], "维度名称": ["高度", "宽度", "通道数"], "附加信息": { "视频高度": 240, "视频宽度": 320, "视频编码格式": "h264", "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, "是否含音频": false } }, "观测.图像.cam3": { "数据类型": "视频", "形状": [240, 320, 3], "维度名称": ["高度", "宽度", "通道数"], "附加信息": { "视频高度": 240, "视频宽度": 320, "视频编码格式": "h264", "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, "是否含音频": false } }, "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 }, "全局索引": { "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 **BibTeX格式：** bibtex [需补充更多信息]