nyu_franka_play_dataset

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

## Dataset Description

- **Homepage:** https://play-to-policy.github.io/
- **Paper:** https://arxiv.org/abs/2210.10047
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 456,
"total_frames": 44875,
"total_tasks": 1,
"total_videos": 912,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:456"
},
"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_additional_view": {
"dtype": "video",
"shape": [
128,
128,
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
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
128,
128,
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": [
13
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12"
]
}
},
"action": {
"dtype": "float32",
"shape": [
15
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14"
]
}
},
"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
@article{cui2022play,
title = {From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data},
author = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
journal = {arXiv preprint arXiv:2210.10047},
year = {2022}
}
```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集说明
- **项目主页**：https://play-to-policy.github.io/
- **相关论文**：https://arxiv.org/abs/2210.10047
- **许可证**：MIT许可证

## 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": 456,
"总帧数": 44875,
"总任务数": 1,
"总视频数": 912,
"总数据块数": 1,
"单数据块大小": 1000,
"帧率": 5,
"数据集划分": {
"训练集": "0:456"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征": {
"观测.图像.附加视角图像": {
"数据类型": "视频",
"维度形状": [128, 128, 3],
"维度命名": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 5.0,
"视频编码格式": "AV1（av1）",
"视频像素格式": "YUV420P（yuv420p）",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.主视角图像": {
"数据类型": "视频",
"维度形状": [128, 128, 3],
"维度命名": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 5.0,
"视频编码格式": "AV1（av1）",
"视频像素格式": "YUV420P（yuv420p）",
"是否为深度图": false,
"是否包含音频": false
}
},
"语言指令": {
"数据类型": "字符串",
"维度形状": [1],
"维度命名": null
},
"观测.状态": {
"数据类型": "32位浮点数（float32）",
"维度形状": [13],
"维度命名": {
"电机": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6", "motor_7", "motor_8", "motor_9", "motor_10", "motor_11", "motor_12"]
}
},
"动作": {
"数据类型": "32位浮点数（float32）",
"维度形状": [15],
"维度命名": {
"电机": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6", "motor_7", "motor_8", "motor_9", "motor_10", "motor_11", "motor_12", "motor_13", "motor_14"]
}
},
"时间戳": {
"数据类型": "32位浮点数（float32）",
"维度形状": [1],
"维度命名": null
},
"回合索引": {
"数据类型": "64位整数（int64）",
"维度形状": [1],
"维度命名": null
},
"帧索引": {
"数据类型": "64位整数（int64）",
"维度形状": [1],
"维度命名": null
},
"下一时刻奖励": {
"数据类型": "32位浮点数（float32）",
"维度形状": [1],
"维度命名": null
},
"下一回合终止标记": {
"数据类型": "布尔值（bool）",
"维度形状": [1],
"维度命名": null
},
"全局索引": {
"数据类型": "64位整数（int64）",
"维度形状": [1],
"维度命名": null
},
"任务索引": {
"数据类型": "64位整数（int64）",
"维度形状": [1],
"维度命名": null
}
}
}

## 引用格式
**BibTeX：**
bibtex
@article{cui2022play,
title = {从游戏到策略：基于未筛选机器人数据的条件行为生成},
author = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
journal = {arXiv预印本 arXiv:2210.10047},
year = {2022}
}