Vertax/test0403

--- 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). ## 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": "bi_flexiv_rizon4_rt", "total_episodes": 2, "total_frames": 14658, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 30, "splits": { "train": "0:2" }, "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", "names": [ "left_tcp.x", "left_tcp.y", "left_tcp.z", "left_tcp.r1", "left_tcp.r2", "left_tcp.r3", "left_tcp.r4", "left_tcp.r5", "left_tcp.r6", "right_tcp.x", "right_tcp.y", "right_tcp.z", "right_tcp.r1", "right_tcp.r2", "right_tcp.r3", "right_tcp.r4", "right_tcp.r5", "right_tcp.r6", "left_gripper.pos", "right_gripper.pos" ], "shape": [ 20 ] }, "observation.state": { "dtype": "float32", "names": [ "left_tcp.x", "left_tcp.y", "left_tcp.z", "left_tcp.r1", "left_tcp.r2", "left_tcp.r3", "left_tcp.r4", "left_tcp.r5", "left_tcp.r6", "right_tcp.x", "right_tcp.y", "right_tcp.z", "right_tcp.r1", "right_tcp.r2", "right_tcp.r3", "right_tcp.r4", "right_tcp.r5", "right_tcp.r6", "left_gripper.pos", "right_gripper.pos" ], "shape": [ 20 ] }, "observation.images.head": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.left_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.left_tactile_0": { "dtype": "video", "shape": [ 400, 700, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 400, "video.width": 700, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.left_tactile_1": { "dtype": "video", "shape": [ 400, 700, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 400, "video.width": 700, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_tactile_0": { "dtype": "video", "shape": [ 400, 700, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 400, "video.width": 700, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_tactile_1": { "dtype": "video", "shape": [ 400, 700, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 400, "video.width": 700, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "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] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置： - 配置名称：default 数据文件路径：data/*/*.parquet 本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。 ## 数据集描述 - **主页**：[待补充更多信息] - **论文**：[待补充更多信息] - **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": "bi_flexiv_rizon4_rt", "总任务回合数": 2, "总帧数": 14658, "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）": 500, "帧率": 30, "数据集划分": { "训练集": "0:2" }, "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": { "数据类型": "float32", "维度名称": [ "left_tcp.x", "left_tcp.y", "left_tcp.z", "left_tcp.r1", "left_tcp.r2", "left_tcp.r3", "left_tcp.r4", "left_tcp.r5", "left_tcp.r6", "right_tcp.x", "right_tcp.y", "right_tcp.z", "right_tcp.r1", "right_tcp.r2", "right_tcp.r3", "right_tcp.r4", "right_tcp.r5", "right_tcp.r6", "left_gripper.pos", "right_gripper.pos" ], "形状": [ 20 ] }, "观测.状态": { "数据类型": "float32", "维度名称": [ "left_tcp.x", "left_tcp.y", "left_tcp.z", "left_tcp.r1", "left_tcp.r2", "left_tcp.r3", "left_tcp.r4", "left_tcp.r5", "left_tcp.r6", "right_tcp.x", "right_tcp.y", "right_tcp.z", "right_tcp.r1", "right_tcp.r2", "right_tcp.r3", "right_tcp.r4", "right_tcp.r5", "right_tcp.r6", "left_gripper.pos", "right_gripper.pos" ], "形状": [ 20 ] }, "观测.图像.头部相机": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.左腕相机": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.右腕相机": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.左触觉传感器0": { "数据类型": "video", "形状": [ 400, 700, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 400, "视频.宽度": 700, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.左触觉传感器1": { "数据类型": "video", "形状": [ 400, 700, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 400, "视频.宽度": 700, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.右触觉传感器0": { "数据类型": "video", "形状": [ 400, 700, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 400, "视频.宽度": 700, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.右触觉传感器1": { "数据类型": "video", "形状": [ 400, 700, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 400, "视频.宽度": 700, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务回合索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX格式：** bibtex [待补充更多信息]