continuallearning/eval_baseline_seqfft_real3_on_real3_seed1000

--- 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=continuallearning/eval_baseline_seqfft_real3_on_real3_seed1000"> <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": "franka", "total_episodes": 11, "total_frames": 2260, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 1, "video_files_size_in_mb": 1, "fps": 15, "splits": { "train": "0:11" }, "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.primary": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.fps": 15.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.fps": 15.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.state.cartesian": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.state.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "observation.state.joints": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "observation.state.target": { "dtype": "float32", "shape": [ 6 ], "names": [ "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw" ] }, "observation.state": { "dtype": "float32", "shape": [ 20 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper", "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] }, "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：默认配置 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=continuallearning/eval_baseline_seqfft_real3_on_real3_seed1000"> <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)` 为该数据集的元数据配置文件，内容如下： json { "codebase_version": "v3.0", "robot_type": "franka", "total_episodes": 11, "total_frames": 2260, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 1, "video_files_size_in_mb": 1, "fps": 15, "splits": { "train": "0:11" }, "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.primary": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.fps": 15.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ], "video_info": { "video.fps": 15.0, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.state.cartesian": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.state.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "observation.state.joints": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "observation.state.target": { "dtype": "float32", "shape": [ 6 ], "names": [ "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw" ] }, "observation.state": { "dtype": "float32", "shape": [ 20 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper", "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] }, "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 } } } 该元数据文件的核心信息说明如下： 1. **codebase_version**：代码库版本为v3.0 2. **robot_type**：使用的机器人平台为Franka（弗兰克卡）机器人 3. **total_episodes**：总交互回合数为11 4. **total_frames**：总数据帧数为2260 5. **total_tasks**：涵盖总任务数为1 6. **chunks_size**：数据分块大小为1000 7. **data_files_size_in_mb**：数据文件总占用空间为1MB 8. **video_files_size_in_mb**：视频文件总占用空间为1MB 9. **fps**：视频采样帧率为15 10. **splits**：数据集划分策略，训练集采样范围为0:11 11. **data_path**：数据文件的路径命名格式 12. **video_path**：视频文件的路径命名格式 13. **features**：数据集的特征字段定义，具体包括： - `observation.images.primary`：主摄像头图像数据，数据类型为视频，形状为[256, 256, 3]，维度依次为高度、宽度、通道数；视频参数为帧率15.0、编码格式av1、像素格式yuv420p、非深度图、无音频轨道 - `observation.images.wrist`：腕部摄像头图像数据，参数与主摄像头图像一致 - `observation.state.cartesian`：笛卡尔空间位姿状态，数据类型为float32，维度为6，依次对应x、y、z轴位移与滚转、俯仰、偏航角 - `observation.state.gripper`：夹爪开度状态，数据类型为float32，维度为1 - `observation.state.joints`：机器人关节角度状态，数据类型为float32，维度为7，依次对应joint_0至joint_6共7个关节的角度 - `observation.state.target`：目标位姿状态，数据类型为float32，维度为6，依次对应目标x、y、z轴位移与目标滚转、俯仰、偏航角 - `observation.state`：合并后的全量状态数据，数据类型为float32，维度为20，包含上述所有状态字段 - `action`：机器人动作指令，数据类型为float32，维度为7，依次对应x、y、z轴位移、滚转、俯仰、偏航角与夹爪开度 - `timestamp`：时间戳，数据类型为float32，维度为1 - `frame_index`：单回合内的帧索引，数据类型为int64，维度为1 - `episode_index`：全局回合索引，数据类型为int64，维度为1 - `index`：全局数据样本索引，数据类型为int64，维度为1 - `task_index`：任务索引，数据类型为int64，维度为1 ## 引用 **BibTeX格式：** bibtex [More Information Needed]