KEVIN04087/rlbench-lerobot

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- rlbench
- lerobot
- single-view
- multi-task
- train
- test
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=KEVIN04087/rlbench-lerobot">
<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": "rlbench_panda",
"total_episodes": 1200,
"total_frames": 155851,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:1000",
"test": "1000:1200"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.images.front": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"joint_position_0",
"joint_position_1",
"joint_position_2",
"joint_position_3",
"joint_position_4",
"joint_position_5",
"joint_position_6",
"gripper_open"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"delta_x",
"delta_y",
"delta_z",
"delta_rx",
"delta_ry",
"delta_rz",
"gripper"
]
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"task_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"source_episode_id": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"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）
- rlbench
- lerobot
- 单视图（single-view）
- 多任务（multi-task）
- 训练（train）
- 测试（test）
配置项：
- 配置名称：默认（default）
数据文件：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=KEVIN04087/rlbench-lerobot">
<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": "rlbench_panda",
"总回合数": 1200,
"总帧数": 155851,
"总任务数": 10,
"分块大小": 1000,
"数据文件大小（MB）": 100,
"视频文件大小（MB）": 200,
"帧率": 20,
"数据集划分": {
"训练集": "0:1000",
"测试集": "1000:1200"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径": null,
"数据特征": {
"观测.前置摄像头图像": {
"数据类型": "图像",
"形状": [
128,
128,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测.关节状态": {
"数据类型": "float32",
"形状": [
8
],
"维度名称": {
"轴": [
"关节位置0",
"关节位置1",
"关节位置2",
"关节位置3",
"关节位置4",
"关节位置5",
"关节位置6",
"夹爪开合度"
]
}
},
"动作指令": {
"数据类型": "float32",
"形状": [
7
],
"维度名称": {
"轴": [
"x方向位移增量",
"y方向位移增量",
"z方向位移增量",
"x轴旋转增量",
"y轴旋转增量",
"z轴旋转增量",
"夹爪指令"
]
}
},
"语言指令": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"任务名称": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"源回合ID": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"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
},
"样本索引": {
"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：**
bibtex
[需补充更多信息]