ankile/threading-d1-dagger-sobol-v1-r14

--- 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": "panda", "total_episodes": 50, "total_frames": 17961, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:50" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 9 ], "names": [ "eef_pos_x", "eef_pos_y", "eef_pos_z", "eef_quat_x", "eef_quat_y", "eef_quat_z", "eef_quat_w", "gripper_qpos_left", "gripper_qpos_right" ] }, "observation.environment_state": { "dtype": "float32", "shape": [ 28 ], "names": [ "needle_pos_x", "needle_pos_y", "needle_pos_z", "needle_quat_x", "needle_quat_y", "needle_quat_z", "needle_quat_w", "needle_to_eef_pos_x", "needle_to_eef_pos_y", "needle_to_eef_pos_z", "needle_to_eef_quat_x", "needle_to_eef_quat_y", "needle_to_eef_quat_z", "needle_to_eef_quat_w", "tripod_pos_x", "tripod_pos_y", "tripod_pos_z", "tripod_quat_x", "tripod_quat_y", "tripod_quat_z", "tripod_quat_w", "tripod_to_eef_pos_x", "tripod_to_eef_pos_y", "tripod_to_eef_pos_z", "tripod_to_eef_quat_x", "tripod_to_eef_quat_y", "tripod_to_eef_quat_z", "tripod_to_eef_quat_w" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "delta_eef_pos_x", "delta_eef_pos_y", "delta_eef_pos_z", "delta_eef_rot_x", "delta_eef_rot_y", "delta_eef_rot_z", "gripper_action" ] }, "source": { "dtype": "int64", "shape": [ 1 ], "names": [ "source_id" ] }, "success": { "dtype": "int64", "shape": [ 1 ], "names": [ "success_flag" ] }, "intervention": { "dtype": "int64", "shape": [ 1 ], "names": [ "intervention_flag" ] }, "is_valid": { "dtype": "int64", "shape": [ 1 ], "names": [ "is_valid_flag" ] }, "reward": { "dtype": "float32", "shape": [ 1 ], "names": [ "reward" ] }, "done": { "dtype": "int64", "shape": [ 1 ], "names": [ "done_flag" ] }, "observation.images.agentview": { "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 } }, "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 配置参数： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建完成。 ## 数据集描述 - **主页**：[需要更多信息] - **论文**：[需要更多信息] - **许可证**：Apache-2.0 ## 数据集结构 `meta/info.json`： json { "代码库版本": "v3.0", "机器人类型": "熊猫机器人（panda）", "总回合数": 50, "总帧数": 17961, "总任务数": 1, "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": "0:50" }, "数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测.末端执行器状态（observation.state）": { "数据类型": "float32", "形状": [9], "字段名称": [ "末端执行器X轴位置（eef_pos_x）", "末端执行器Y轴位置（eef_pos_y）", "末端执行器Z轴位置（eef_pos_z）", "末端执行器四元数X分量（eef_quat_x）", "末端执行器四元数Y分量（eef_quat_y）", "末端执行器四元数Z分量（eef_quat_z）", "末端执行器四元数W分量（eef_quat_w）", "左侧夹爪关节位置（gripper_qpos_left）", "右侧夹爪关节位置（gripper_qpos_right）" ] }, "观测.环境状态（observation.environment_state）": { "数据类型": "float32", "形状": [28], "字段名称": [ "针X轴位置（needle_pos_x）", "针Y轴位置（needle_pos_y）", "针Z轴位置（needle_pos_z）", "针四元数X分量（needle_quat_x）", "针四元数Y分量（needle_quat_y）", "针四元数Z分量（needle_quat_z）", "针四元数W分量（needle_quat_w）", "针到末端执行器X轴相对位置（needle_to_eef_pos_x）", "针到末端执行器Y轴相对位置（needle_to_eef_pos_y）", "针到末端执行器Z轴相对位置（needle_to_eef_pos_z）", "针到末端执行器四元数X分量（needle_to_eef_quat_x）", "针到末端执行器四元数Y分量（needle_to_eef_quat_y）", "针到末端执行器四元数Z分量（needle_to_eef_quat_z）", "针到末端执行器四元数W分量（needle_to_eef_quat_w）", "三脚架X轴位置（tripod_pos_x）", "三脚架Y轴位置（tripod_pos_y）", "三脚架Z轴位置（tripod_pos_z）", "三脚架四元数X分量（tripod_quat_x）", "三脚架四元数Y分量（tripod_quat_y）", "三脚架四元数Z分量（tripod_quat_z）", "三脚架四元数W分量（tripod_quat_w）", "三脚架到末端执行器X轴相对位置（tripod_to_eef_pos_x）", "三脚架到末端执行器Y轴相对位置（tripod_to_eef_pos_y）", "三脚架到末端执行器Z轴相对位置（tripod_to_eef_pos_z）", "三脚架到末端执行器四元数X分量（tripod_to_eef_quat_x）", "三脚架到末端执行器四元数Y分量（tripod_to_eef_quat_y）", "三脚架到末端执行器四元数Z分量（tripod_to_eef_quat_z）", "三脚架到末端执行器四元数W分量（tripod_to_eef_quat_w）" ] }, "动作（action）": { "数据类型": "float32", "形状": [7], "字段名称": [ "末端执行器X轴位置增量（delta_eef_pos_x）", "末端执行器Y轴位置增量（delta_eef_pos_y）", "末端执行器Z轴位置增量（delta_eef_pos_z）", "末端执行器X轴旋转增量（delta_eef_rot_x）", "末端执行器Y轴旋转增量（delta_eef_rot_y）", "末端执行器Z轴旋转增量（delta_eef_rot_z）", "夹爪动作（gripper_action）" ] }, "源标识（source）": { "数据类型": "int64", "形状": [1], "字段名称": ["源ID（source_id）"] }, "成功标识（success）": { "数据类型": "int64", "形状": [1], "字段名称": ["成功标记（success_flag）"] }, "干预标识（intervention）": { "数据类型": "int64", "形状": [1], "字段名称": ["干预标记（intervention_flag）"] }, "有效标识（is_valid）": { "数据类型": "int64", "形状": [1], "字段名称": ["有效标记（is_valid_flag）"] }, "奖励（reward）": { "数据类型": "float32", "形状": [1], "字段名称": ["奖励值（reward）"] }, "回合结束标识（done）": { "数据类型": "int64", "形状": [1], "字段名称": ["回合结束标记（done_flag）"] }, "观测图像.智能体视角（observation.images.agentview）": { "数据类型": "视频", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "视频信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "H.264（h264）", "视频像素格式": "YUV420P（yuv420p）", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "观测图像.机械臂眼在手视角（observation.images.robot0_eye_in_hand）": { "数据类型": "视频", "形状": [256, 256, 3], "字段名称": ["高度（height）", "宽度（width）", "通道数（channels）"], "视频信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "H.264（h264）", "视频像素格式": "YUV420P（yuv420p）", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "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 [需要更多信息]