ankile/square-dagger-state-idql-r2

--- 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": 100, "total_frames": 25320, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 20, "splits": { "train": "0:100" }, "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": [ 14 ], "names": [ "nut_to_eef_pos_x", "nut_to_eef_pos_y", "nut_to_eef_pos_z", "nut_to_eef_quat_x", "nut_to_eef_quat_y", "nut_to_eef_quat_z", "nut_to_eef_quat_w", "nut_pos_x", "nut_pos_y", "nut_pos_z", "nut_quat_x", "nut_quat_y", "nut_quat_z", "nut_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": "av1", "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": "av1", "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： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集由[LeRobot](https://github.com/huggingface/lerobot)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": "v3.0", "机器人类型": "panda", "总回合数": 100, "总帧数": 25320, "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）": 500, "帧率": 20, "数据集划分": { "训练集": "0:100" }, "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", "特征项": { "观测.机械臂状态": { "数据类型": "float32", "形状": [9], "维度名称": [ "末端执行器x位置", "末端执行器y位置", "末端执行器z位置", "末端执行器四元数x", "末端执行器四元数y", "末端执行器四元数z", "末端执行器四元数w", "左手夹爪关节位置", "右手夹爪关节位置" ] }, "观测.环境状态": { "数据类型": "float32", "形状": [14], "维度名称": [ "螺母到末端执行器x位置", "螺母到末端执行器y位置", "螺母到末端执行器z位置", "螺母到末端执行器四元数x", "螺母到末端执行器四元数y", "螺母到末端执行器四元数z", "螺母到末端执行器四元数w", "螺母x位置", "螺母y位置", "螺母z位置", "螺母四元数x", "螺母四元数y", "螺母四元数z", "螺母四元数w" ] }, "动作": { "数据类型": "float32", "形状": [7], "维度名称": [ "末端执行器x方向位移增量", "末端执行器y方向位移增量", "末端执行器z方向位移增量", "末端执行器x方向旋转增量", "末端执行器y方向旋转增量", "末端执行器z方向旋转增量", "夹爪动作指令" ] }, "来源": { "数据类型": "int64", "形状": [1], "维度名称": [ "来源ID" ] }, "成功标识": { "数据类型": "int64", "形状": [1], "维度名称": [ "成功标记" ] }, "人工干预": { "数据类型": "int64", "形状": [1], "维度名称": [ "干预标记" ] }, "数据有效性": { "数据类型": "int64", "形状": [1], "维度名称": [ "有效标记" ] }, "奖励值": { "数据类型": "float32", "形状": [1], "维度名称": [ "奖励" ] }, "回合结束标识": { "数据类型": "int64", "形状": [1], "维度名称": [ "回合结束标记" ] }, "观测.图像.智能视角": { "数据类型": "视频", "形状": [256, 256, 3], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测.图像.机械臂眼在手视角": { "数据类型": "视频", "形状": [256, 256, 3], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "帧率": 20, "通道数": 3, "是否包含音频": 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 }, "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格式引用**： bibtex [需补充更多信息]