dlr_sara_pour

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** https://elib.dlr.de/193739/1/padalkar2023rlsct.pdf
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 100,
"total_frames": 12971,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:100"
},
"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.image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
@inproceedings{padalkar2023guiding,
title={Guiding Reinforcement Learning with Shared Control Templates},
author={Padalkar, Abhishek and Quere, Gabriel and Steinmetz, Franz and Raffin, Antonin and Nieuwenhuisen, Matthias and Silv{\'e}rio, Jo{\~a}o and Stulp, Freek},
booktitle={40th IEEE International Conference on Robotics and Automation, ICRA 2023},
year={2023},
organization={IEEE}
}
```

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**：https://elib.dlr.de/193739/1/padalkar2023rlsct.pdf
- **许可协议**：MIT

# 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总回合数": 100,
"总帧数": 12971,
"总任务数": 1,
"总视频数": 100,
"总块数": 1,
"块大小": 1000,
"帧率": 5,
"数据集划分": {
"训练集": "0:100"
},
"数据存储路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频存储路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"observation.images.image": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"observation.state": {
"数据类型": "float32",
"形状": [
6
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
}
},
"action": {
"数据类型": "float32",
"形状": [
7
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"episode_index": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"frame_index": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"next.reward": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"next.done": {
"数据类型": "布尔型",
"形状": [
1
],
"维度名称": null
},
"index": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"task_index": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}

# 引用信息
**BibTeX格式：**
bibtex
@inproceedings{padalkar2023guiding,
title={使用共享控制模板引导强化学习},
author={Padalkar, Abhishek and Quere, Gabriel and Steinmetz, Franz and Raffin, Antonin and Nieuwenhuisen, Matthias and Silvério, João and Stulp, Freek},
booktitle={第40届IEEE国际机器人与自动化会议，ICRA 2023},
year={2023},
organization={IEEE}
}

搜集汇总

背景与挑战

背景概述

该数据集是一个机器人控制数据集，由LeRobot创建，包含100个训练视频，总帧数12971，视频分辨率为480x640x3，帧率5fps，使用AV1编码。数据集特征包括观察图像、语言指令、状态和动作等，适用于强化学习研究，特别是基于共享控制模板的机器人引导任务，相关论文发表于2023年ICRA会议。