kimz1121/robocasa_spatial_camrandom_depthmap_trunc_pretrain_atomic_AdjustToasterOvenTemperature

--- 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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_camrandom_depthmap_trunc_pretrain_atomic_AdjustToasterOvenTemperature"> <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": "PandaOmron", "total_episodes": 107, "total_frames": 21328, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:107" }, "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": [ 12 ], "names": [ "base_x", "base_y", "base_rot", "base_torso", "control_mode", "ee_x", "ee_y", "ee_z", "ee_rx", "ee_ry", "ee_rz", "gripper_close" ] }, "observation.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "base_x", "base_y", "base_z", "base_qx", "base_qy", "base_qz", "base_qw", "ee_rel_x", "ee_rel_y", "ee_rel_z", "ee_rel_qx", "ee_rel_qy", "ee_rel_qz", "ee_rel_qw", "gripper_left", "gripper_right" ] }, "observation.images.robot0_agentview_left": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot0_agentview_right": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot0_eye_in_hand": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot0_agentview_left_depthmap": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot0_agentview_right_depthmap": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.robot0_eye_in_hand_depthmap": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 256, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.intrinsic.robot0_agentview_left": { "dtype": "float32", "shape": [ 3, 3 ], "names": "intrinsic_matrix" }, "observation.intrinsic.robot0_agentview_right": { "dtype": "float32", "shape": [ 3, 3 ], "names": "intrinsic_matrix" }, "observation.intrinsic.robot0_eye_in_hand": { "dtype": "float32", "shape": [ 3, 3 ], "names": "intrinsic_matrix" }, "observation.extrinsic.robot0_agentview_left": { "dtype": "float32", "shape": [ 4, 4 ], "names": "extrinsic_matrix" }, "observation.extrinsic.robot0_agentview_right": { "dtype": "float32", "shape": [ 4, 4 ], "names": "extrinsic_matrix" }, "observation.extrinsic.robot0_eye_in_hand": { "dtype": "float32", "shape": [ 4, 4 ], "names": "extrinsic_matrix" }, "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] ```--- license: apache-2.0 任务类别： - 机器人学 标签： - LeRobot（LeRobot） 配置项： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集由 [LeRobot（LeRobot）](https://github.com/huggingface/lerobot) 构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_camrandom_depthmap_trunc_pretrain_atomic_AdjustToasterOvenTemperature"> <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": "PandaOmron（PandaOmron）", "总回合数": 107, "总帧数": 21328, "总任务数": 2, "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": 20, "数据集划分": { "训练集": "0:107" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "动作（action）": { "数据类型": "float32", "形状": [12], "字段名称": [ "基座x轴（base_x）", "基座y轴（base_y）", "基座旋转（base_rot）", "基座躯干（base_torso）", "控制模式（control_mode）", "末端执行器x轴（ee_x）", "末端执行器y轴（ee_y）", "末端执行器z轴（ee_z）", "末端执行器x轴旋转（ee_rx）", "末端执行器y轴旋转（ee_ry）", "末端执行器z轴旋转（ee_rz）", "夹爪闭合度（gripper_close）" ] }, "观测状态（observation.state）": { "数据类型": "float32", "形状": [16], "字段名称": [ "基座x（base_x）", "基座y（base_y）", "基座z（base_z）", "基座四元数x（base_qx）", "基座四元数y（base_qy）", "基座四元数z（base_qz）", "基座四元数w（base_qw）", "末端执行器相对x（ee_rel_x）", "末端执行器相对y（ee_rel_y）", "末端执行器相对z（ee_rel_z）", "末端执行器相对四元数x（ee_rel_qx）", "末端执行器相对四元数y（ee_rel_qy）", "末端执行器相对四元数z（ee_rel_qz）", "末端执行器相对四元数w（ee_rel_qw）", "左夹爪（gripper_left）", "右夹爪（gripper_right）" ] }, "观测图像.机器人0 代理左视角（observation.images.robot0_agentview_left）": { "数据类型": "视频（video）", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "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": 20, "视频通道数": 3, "包含音频": false } }, "观测图像.机器人0 代理右视角（observation.images.robot0_agentview_right）": { "数据类型": "视频（video）", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "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": 20, "视频通道数": 3, "包含音频": false } }, "观测图像.机器人0 眼在手视角（observation.images.robot0_eye_in_hand）": { "数据类型": "视频（video）", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "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": 20, "视频通道数": 3, "包含音频": false } }, "观测图像.机器人0 代理左视角深度图（observation.images.robot0_agentview_left_depthmap）": { "数据类型": "视频（video）", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "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": 20, "视频通道数": 3, "包含音频": false } }, "观测图像.机器人0 代理右视角深度图（observation.images.robot0_agentview_right_depthmap）": { "数据类型": "视频（video）", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "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": 20, "视频通道数": 3, "包含音频": false } }, "观测图像.机器人0 眼在手视角深度图（observation.images.robot0_eye_in_hand_depthmap）": { "数据类型": "视频（video）", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "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": 20, "视频通道数": 3, "包含音频": false } }, "观测内参.机器人0 代理左视角（observation.intrinsic.robot0_agentview_left）": { "数据类型": "float32", "形状": [3, 3], "字段名称": "内参矩阵（intrinsic_matrix）" }, "观测内参.机器人0 代理右视角（observation.intrinsic.robot0_agentview_right）": { "数据类型": "float32", "形状": [3, 3], "字段名称": "内参矩阵（intrinsic_matrix）" }, "观测内参.机器人0 眼在手视角（observation.intrinsic.robot0_eye_in_hand）": { "数据类型": "float32", "形状": [3, 3], "字段名称": "内参矩阵（intrinsic_matrix）" }, "观测外参.机器人0 代理左视角（observation.extrinsic.robot0_agentview_left）": { "数据类型": "float32", "形状": [4, 4], "字段名称": "外参矩阵（extrinsic_matrix）" }, "观测外参.机器人0 代理右视角（observation.extrinsic.robot0_agentview_right）": { "数据类型": "float32", "形状": [4, 4], "字段名称": "外参矩阵（extrinsic_matrix）" }, "观测外参.机器人0 眼在手视角（observation.extrinsic.robot0_eye_in_hand）": { "数据类型": "float32", "形状": [4, 4], "字段名称": "外参矩阵（extrinsic_matrix）" }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [1], "字段名称": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [1], "字段名称": null }, "回合索引（episode_index）": { "数据类型": "int64", "形状": [1], "字段名称": null }, "全局索引（index）": { "数据类型": "int64", "形状": [1], "字段名称": null }, "任务索引（task_index）": { "数据类型": "int64", "形状": [1], "字段名称": null } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]