hyzhang01/GCA_suction_franka_a01_tracking_id1_v2
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--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - robotics - grasping - 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": "v2.1", "robot_type": "franka", "total_episodes": 2, "total_frames": 215, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 50, "splits": { "train": "0:2" }, "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": { "image": { "dtype": "image", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channel" ] }, "wrist_image": { "dtype": "image", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channel" ] }, "state": { "dtype": "float32", "shape": [ 7 ], "names": [ "state" ] }, "actions": { "dtype": "float32", "shape": [ 7 ], "names": [ "actions" ] }, "gripper_id": { "dtype": "int32", "shape": [ 1 ], "names": [ "gripper_id" ] }, "gripper_tracks": { "dtype": "float32", "shape": [ 2, 2 ], "names": [ "tips", "xy" ] }, "object_tracks": { "dtype": "float32", "shape": [ 20, 2 ], "names": [ "points", "xy" ] }, "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（Robotics） 标签： - LeRobot - 机器人学（Robotics） - 抓取（Grasping） - lerobot 配置项： - 配置名称：默认 数据文件：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。 ## 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": "v2.1", "机器人类型": "Franka", "总回合数": 2, "总帧数": 215, "总任务数": 1, "总视频数": 0, "总分块数": 1, "分块大小": 1000, "帧率": 50, "划分方式": { "训练集": "0:2" }, "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": { "图像": { "数据类型": "图像（image）", "形状": [ 224, 224, 3 ], "维度名称": [ "高度", "宽度", "通道" ] }, "腕部图像": { "数据类型": "图像（image）", "形状": [ 224, 224, 3 ], "维度名称": [ "高度", "宽度", "通道" ] }, "状态": { "数据类型": "float32", "形状": [ 7 ], "维度名称": [ "状态" ] }, "动作": { "数据类型": "float32", "形状": [ 7 ], "维度名称": [ "动作" ] }, "夹爪ID": { "数据类型": "int32", "形状": [ 1 ], "维度名称": [ "夹爪ID" ] }, "夹爪轨迹": { "数据类型": "float32", "形状": [ 2, 2 ], "维度名称": [ "指尖", "坐标" ] }, "目标轨迹": { "数据类型": "float32", "形状": [ 20, 2 ], "维度名称": [ "点集", "坐标" ] }, "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 }, "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 [需补充更多信息]
