axiboai/piper-stack-scripted-smolvla-v4

该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含200个训练episodes，总计125458帧，数据以parquet文件格式存储，视频文件以MP4格式存储。数据集特征包括：来自三个摄像头的视频观测（每个分辨率为128x128，20fps，3通道），机器人状态观测（30维，包括关节位置q0-q13、速度qd0-qd13和夹爪力g_left、g_right），末端执行器位姿（14维，表示左右末端执行器的位置和四元数），动作（14维关节目标）。此外，数据集包含丰富的元数据，如演示者ID、工作站ID、任务变体、毛巾ID、光照条件、垫子ID、成功标志（int64类型）、笔记等。数据集适用于机器人操作、模仿学习或强化学习任务，可能涉及具体环境中的物体操作。

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- 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](https://github.com/huggingface/lerobot)构建。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=axiboai/piper-stack-scripted-smolvla-v4">
<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

- **项目主页：** [暂无更多信息]
- **相关论文：** [暂无更多信息]
- **许可证：** Apache-2.0

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 125458,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:200"
},
"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.images.camera1": {
"数据类型": "video",
"形状": [128, 128, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 128,
"视频宽度": 128,
"视频帧率": 20,
"视频通道数": 3,
"视频编码格式": "h264"
}
},
"observation.images.camera2": {
"数据类型": "video",
"形状": [128, 128, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 128,
"视频宽度": 128,
"视频帧率": 20,
"视频通道数": 3,
"视频编码格式": "h264"
}
},
"observation.images.camera3": {
"数据类型": "video",
"形状": [128, 128, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 128,
"视频宽度": 128,
"视频帧率": 20,
"视频通道数": 3,
"视频编码格式": "h264"
}
},
"observation.state": {
"数据类型": "float32",
"形状": [30],
"维度名称": ["q0", "q1", "q2", "q3", "q4", "q5", "q6", "q7", "q8", "q9", "q10", "q11", "q12", "q13", "qd0", "qd1", "qd2", "qd3", "qd4", "qd5", "qd6", "qd7", "qd8", "qd9", "qd10", "qd11", "qd12", "qd13", "g_left", "g_right"]
},
"observation.ee_pose": {
"数据类型": "float32",
"形状": [14],
"维度名称": ["left_x", "left_y", "left_z", "left_qw", "left_qx", "left_qy", "left_qz", "right_x", "right_y", "right_z", "right_qw", "right_qx", "right_qy", "right_qz"]
},
"action": {
"数据类型": "float32",
"形状": [14],
"维度名称": ["joint_target_0", "joint_target_1", "joint_target_2", "joint_target_3", "joint_target_4", "joint_target_5", "joint_target_6", "joint_target_7", "joint_target_8", "joint_target_9", "joint_target_10", "joint_target_11", "joint_target_12", "joint_target_13"]
},
"metadata.demonstrator_id": {
"数据类型": "string",
"形状": [1],
"维度名称": ["demonstrator_id"]
},
"metadata.station_id": {
"数据类型": "string",
"形状": [1],
"维度名称": ["station_id"]
},
"metadata.task_variant": {
"数据类型": "string",
"形状": [1],
"维度名称": ["task_variant"]
},
"metadata.towel_id": {
"数据类型": "string",
"形状": [1],
"维度名称": ["towel_id"]
},
"metadata.lighting": {
"数据类型": "string",
"形状": [1],
"维度名称": ["lighting"]
},
"metadata.mat_id": {
"数据类型": "string",
"形状": [1],
"维度名称": ["mat_id"]
},
"metadata.success": {
"数据类型": "int64",
"形状": [1],
"维度名称": ["success"]
},
"metadata.notes": {
"数据类型": "string",
"形状": [1],
"维度名称": ["notes"]
},
"timestamp": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"frame_index": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"episode_index": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"index": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"task_index": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}

## 引用格式

**BibTeX格式：**
bibtex
[暂无更多信息]