kimz1121/robocasa_spatial_images_pretrain_atomic_AdjustToasterOvenTemperature

--- 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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_images_pretrain_atomic_AdjustToasterOvenTemperature"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": "PandaOmron", "total_episodes": 107, "total_frames": 21328, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:107" }, "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", "shape": [ 12 ], "names": [ "base_x", "base_y", "base_rot", "base_torso", "control_mode", "ee_x", "ee_y", "ee_z", "ee_rx", "ee_ry", "ee_rz", "gripper_close" ] }, "observation.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "base_x", "base_y", "base_z", "base_qx", "base_qy", "base_qz", "base_qw", "ee_rel_x", "ee_rel_y", "ee_rel_z", "ee_rel_qx", "ee_rel_qy", "ee_rel_qz", "ee_rel_qw", "gripper_left", "gripper_right" ] }, "observation.images.robot0_agentview_left": { "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_agentview_right": { "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 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集基于LeRobot（LeRobot）工具链构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_images_pretrain_atomic_AdjustToasterOvenTemperature"><img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/><img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/></a> ## 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`： json { "代码库版本": "v3.0", "机器人类型": "PandaOmron", "总回合数": 107, "总帧数": 21328, "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）": 200, "帧率": 20, "数据集划分": { "训练集": "0:107" }, "数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "动作": { "数据类型": "float32", "形状": [12], "字段名称": [ "base_x（基座X轴）", "base_y（基座Y轴）", "base_rot（基座旋转量）", "base_torso（基座躯干高度）", "control_mode（控制模式）", "ee_x（末端执行器X轴）", "ee_y（末端执行器Y轴）", "ee_z（末端执行器Z轴）", "ee_rx（末端执行器X轴旋转）", "ee_ry（末端执行器Y轴旋转）", "ee_rz（末端执行器Z轴旋转）", "gripper_close（夹爪闭合度）" ] }, "观测.状态": { "数据类型": "float32", "形状": [16], "字段名称": [ "base_x（基座X轴）", "base_y（基座Y轴）", "base_z（基座Z轴）", "base_qx（基座四元数X分量）", "base_qy（基座四元数Y分量）", "base_qz（基座四元数Z分量）", "base_qw（基座四元数W分量）", "ee_rel_x（末端执行器相对X轴）", "ee_rel_y（末端执行器相对Y轴）", "ee_rel_z（末端执行器相对Z轴）", "ee_rel_qx（末端执行器相对四元数X分量）", "ee_rel_qy（末端执行器相对四元数Y分量）", "ee_rel_qz（末端执行器相对四元数Z分量）", "ee_rel_qw（末端执行器相对四元数W分量）", "gripper_left（左侧夹爪开度）", "gripper_right（右侧夹爪开度）" ] }, "观测.图像.robot0_agentview_left（机器人0号左侧代理视图图像）": { "数据类型": "视频", "形状": [256, 256, 3], "字段名称": ["height（高度）", "width（宽度）", "channels（通道数）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "h264", "视频像素格式": "yuv420p", "非深度图": false, "视频帧率": 20, "视频通道数": 3, "无音频": false } }, "观测.图像.robot0_agentview_right（机器人0号右侧代理视图图像）": { "数据类型": "视频", "形状": [256, 256, 3], "字段名称": ["height（高度）", "width（宽度）", "channels（通道数）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "h264", "视频像素格式": "yuv420p", "非深度图": false, "视频帧率": 20, "视频通道数": 3, "无音频": false } }, "观测.图像.robot0_eye_in_hand（机器人0号眼在手视图图像）": { "数据类型": "视频", "形状": [256, 256, 3], "字段名称": ["height（高度）", "width（宽度）", "channels（通道数）"], "详细信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "h264", "视频像素格式": "yuv420p", "非深度图": false, "视频帧率": 20, "视频通道数": 3, "无音频": false } }, "时间戳": { "数据类型": "float32", "形状": [1], "字段名称": null }, "帧索引": { "数据类型": "int64", "形状": [1], "字段名称": null }, "回合索引": { "数据类型": "int64", "形状": [1], "字段名称": null }, "全局索引": { "数据类型": "int64", "形状": [1], "字段名称": null }, "任务索引": { "数据类型": "int64", "形状": [1], "字段名称": null } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]