hahahataeyun/hrdexdb_test

--- 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=hahahataeyun/hrdexdb_test"> <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": "inspire_f1", "total_episodes": 5, "total_frames": 2538, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:5" }, "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": [ 21 ], "names": { "axes": [ "arm_pose_x", "arm_pose_y", "arm_pose_z", "arm_pose_rot6d_0", "arm_pose_rot6d_1", "arm_pose_rot6d_2", "arm_pose_rot6d_3", "arm_pose_rot6d_4", "arm_pose_rot6d_5", "arm_joint_0", "arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5", "hand_joint_0", "hand_joint_1", "hand_joint_2", "hand_joint_3", "hand_joint_4", "hand_joint_5" ] } }, "action": { "dtype": "float32", "shape": [ 15 ], "names": { "axes": [ "arm_action_x", "arm_action_y", "arm_action_z", "arm_action_rot6d_0", "arm_action_rot6d_1", "arm_action_rot6d_2", "arm_action_rot6d_3", "arm_action_rot6d_4", "arm_action_rot6d_5", "hand_joint_0", "hand_joint_1", "hand_joint_2", "hand_joint_3", "hand_joint_4", "hand_joint_5" ] } }, "observation.images.cam_25452066": { "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.cam_23012641": { "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.cam_23022639": { "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 } }, "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（LeRobot） 配置项： - 配置名称：默认 数据文件路径：data/*/*.parquet --- 本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)工具构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hahahataeyun/hrdexdb_test"> <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](meta/info.json): json { "代码库版本": "v3.0", "机器人型号": "inspire_f1", "总回合数": 5, "总帧数": 2538, "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（fps）": 30, "数据集划分": { "训练集": "0:5" }, "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", "特征字段": { "观测数据.机械臂状态": { "数据类型": "float32", "数据形状": [ 21 ], "轴名称": { "axes": [ "arm_pose_x", "arm_pose_y", "arm_pose_z", "arm_pose_rot6d_0", "arm_pose_rot6d_1", "arm_pose_rot6d_2", "arm_pose_rot6d_3", "arm_pose_rot6d_4", "arm_pose_rot6d_5", "arm_joint_0", "arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5", "hand_joint_0", "hand_joint_1", "hand_joint_2", "hand_joint_3", "hand_joint_4", "hand_joint_5" ] } }, "动作数据": { "数据类型": "float32", "数据形状": [ 15 ], "轴名称": { "axes": [ "arm_action_x", "arm_action_y", "arm_action_z", "arm_action_rot6d_0", "arm_action_rot6d_1", "arm_action_rot6d_2", "arm_action_rot6d_3", "arm_action_rot6d_4", "arm_action_rot6d_5", "hand_joint_0", "hand_joint_1", "hand_joint_2", "hand_joint_3", "hand_joint_4", "hand_joint_5" ] } }, "观测数据.图像.相机25452066": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "height", "width", "channels" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "无音频轨道": false } }, "观测数据.图像.相机23012641": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "height", "width", "channels" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "无音频轨道": false } }, "观测数据.图像.相机23022639": { "数据类型": "video", "数据形状": [ 480, 640, 3 ], "维度名称": [ "height", "width", "channels" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "无音频轨道": false } }, "时间戳": { "数据类型": "float32", "数据形状": [ 1 ], "轴名称": null }, "帧索引": { "数据类型": "int64", "数据形状": [ 1 ], "轴名称": null }, "回合索引": { "数据类型": "int64", "数据形状": [ 1 ], "轴名称": null }, "全局索引": { "数据类型": "int64", "数据形状": [ 1 ], "轴名称": null }, "任务索引": { "数据类型": "int64", "数据形状": [ 1 ], "轴名称": null } } } ## 引用 **BibTeX 格式：** bibtex [需补充更多信息]