Lui3ui3ui/lekiwi_plug_self_in_vol2

--- 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": "lekiwi_client", "total_episodes": 101, "total_frames": 108006, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 30, "splits": { "train": "0:101" }, "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": [ 9 ], "names": [ "arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel" ] }, "observation.state": { "dtype": "float32", "shape": [ 9 ], "names": [ "arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel" ] }, "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": 30, "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": 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（robotics） 标签： - LeRobot（LeRobot） 配置项： - 配置名称：default 数据文件：data/*/*.parquet 本数据集依托[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。 ## 数据集描述 - **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": "lekiwi_client", "总回合数": 101, "总帧数": 108006, "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）": 500, "帧率": 30, "数据拆分": { "训练集": "0:101" }, "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": { "动作": { "数据类型": "float32", "形状": [9], "维度名称": [ "arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel" ] }, "观测状态": { "数据类型": "float32", "形状": [9], "维度名称": [ "arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel" ] }, "前置摄像头观测图像": { "数据类型": "video", "形状": [480, 640, 3], "维度名称": [ "height", "width", "channels" ], "详细信息": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "腕部摄像头观测图像": { "数据类型": "video", "形状": [480, 640, 3], "维度名称": [ "height", "width", "channels" ], "详细信息": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": 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]