DRMNmadhan/piper_pickdrop_bottle_50

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - piper - robotis 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": "v2.1", "robot_type": "piper", "total_episodes": 50, "total_frames": 30031, "total_tasks": 1, "total_videos": 150, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:50" }, "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": { "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 }, "observation.images.cam_global": { "dtype": "video", "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ], "info": { "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "libx264", "video.pix_fmt": "yuv420p" } }, "observation.images.cam_gripper": { "dtype": "video", "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ], "info": { "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "libx264", "video.pix_fmt": "yuv420p" } }, "observation.images.cam_local": { "dtype": "video", "names": [ "height", "width", "channels" ], "shape": [ 480, 640, 3 ], "info": { "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "libx264", "video.pix_fmt": "yuv420p" } }, "observation.state": { "dtype": "float32", "names": [ "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "gripper" ], "shape": [ 7 ] }, "action": { "dtype": "float32", "names": [ "joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "gripper" ], "shape": [ 7 ] } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot - piper - robotis 配置项： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)框架构建。 ## 数据集说明 - **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": "v2.1", "机器人类型": "piper", "总轨迹数": 50, "总帧数": 30031, "总任务数": 1, "总视频数": 150, "总数据块数": 1, "数据块大小": 1000, "帧率": 30, "数据集拆分": { "训练集": "0:50" }, "数据文件路径模板": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频文件路径模板": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "轨迹索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "观测数据.全局相机图像": { "数据类型": "视频", "维度名称": [ "高度", "宽度", "通道数" ], "形状": [ 480, 640, 3 ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "libx264", "视频像素格式": "yuv420p" } }, "观测数据.夹爪相机图像": { "数据类型": "视频", "维度名称": [ "高度", "宽度", "通道数" ], "形状": [ 480, 640, 3 ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "libx264", "视频像素格式": "yuv420p" } }, "观测数据.局部相机图像": { "数据类型": "视频", "维度名称": [ "高度", "宽度", "通道数" ], "形状": [ 480, 640, 3 ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "libx264", "视频像素格式": "yuv420p" } }, "观测数据.机器人状态": { "数据类型": "float32", "维度名称": [ "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪" ], "形状": [ 7 ] }, "动作指令": { "数据类型": "float32", "维度名称": [ "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪" ], "形状": [ 7 ] } } } ## 引用 **BibTeX格式引用：** bibtex [需补充更多信息]