asu_table_top

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description - **Homepage:** [More Information Needed] - **Paper:** https://link.springer.com/article/10.1007/s10514-023-10129-1 - **License:** mit ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v2.0", "robot_type": "unknown", "total_episodes": 110, "total_frames": 26113, "total_tasks": 216, "total_videos": 110, "total_chunks": 1, "chunks_size": 1000, "fps": 5, "splits": { "train": "0:110" }, "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": [ 224, 224, 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": [ 7 ], "names": { "motors": [ "motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6" ] } }, "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{zhou2023modularity, title={Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation}, author={Zhou, Yifan and Sonawani, Shubham and Phielipp, Mariano and Stepputtis, Simon and Amor, Heni}, booktitle={Conference on Robot Learning}, pages={1684--1695}, year={2023}, organization={PMLR} } @article{zhou2023learning, title={Learning modular language-conditioned robot policies through attention}, author={Zhou, Yifan and Sonawani, Shubham and Phielipp, Mariano and Ben Amor, Heni and Stepputtis, Simon}, journal={Autonomous Robots}, pages={1--21}, year={2023}, publisher={Springer} } ```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] - **论文链接**：https://link.springer.com/article/10.1007/s10514-023-10129-1 - **许可证**：MIT许可证（MIT License） ## 数据集结构 [meta/info.json](meta/info.json)文件内容如下： json { "codebase_version": "v2.0", "robot_type": "unknown", "total_episodes": 110, "total_frames": 26113, "total_tasks": 216, "total_videos": 110, "total_chunks": 1, "chunks_size": 1000, "fps": 5, "splits": { "train": "0:110" }, "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": [ 224, 224, 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": [ 7 ], "names": { "motors": [ "motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6" ] } }, "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 } } } ## 引用 **BibTeX格式**： bibtex @inproceedings{zhou2023modularity, title={Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation}, author={Zhou, Yifan and Sonawani, Shubham and Phielipp, Mariano and Stepputtis, Simon and Amor, Heni}, booktitle={Conference on Robot Learning}, pages={1684--1695}, year={2023}, organization={PMLR} } @article{zhou2023learning, title={Learning modular language-conditioned robot policies through attention}, author={Zhou, Yifan and Sonawani, Shubham and Phielipp, Mariano and Ben Amor, Heni and Stepputtis, Simon}, journal={Autonomous Robots}, pages={1--21}, year={2023}, publisher={Springer} }

搜集汇总

背景与挑战

背景概述

该数据集由LeRobot创建，包含110个训练集视频，总计26113帧，用于机器人操作任务。数据包括图像、语言指令、状态和动作等结构化特征，适用于语言条件策略的训练与转移。