brandonyang/droid_overlay_v2

该数据集由LeRobot创建，专注于机器人技术领域，主要用于轨迹覆盖和多剧集任务。数据集包含5289个总剧集、862822个总帧和3076个总任务，数据以parquet文件格式存储，分为6个块，每个块大小为1000。帧率为15fps，机器人类型为panda。数据集特征包括：三个图像特征（exterior_image_1_left、exterior_image_2_left、wrist_image_left），每个图像的分辨率为180x320x3；关节位置（7维浮点数组）；夹持器位置（1维浮点数组）；动作（8维浮点数组）；以及时间戳、帧索引、剧集索引、索引和任务索引等元数据。所有数据仅用于训练集，视频路径存在但总视频数为0。

许可证：Apache-2.0
任务类别：机器人学
标签：LeRobot、droid、轨迹叠加（trajectory-overlay）、多回合（multi-episode）、完整（full）、笔记本风格（notebook-style）
配置项：
- 配置名称：default
数据文件：data/*/*.parquet

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集说明
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 5289,
"total_frames": 862822,
"total_tasks": 3076,
"total_videos": 0,
"total_chunks": 6,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:5289"
},
"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": {
"exterior_image_1_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"exterior_image_2_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_position"
]
},
"gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"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
}
}
}

## 引用
**BibTeX格式**：
bibtex
[更多信息待补充]