umi_cup_in_the_wild

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## 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": "v2.0",
"robot_type": "unknown",
"total_episodes": 1447,
"total_frames": 699432,
"total_tasks": 1,
"total_videos": 1447,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1447"
},
"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": {
"observation.image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_data_index_from": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_data_index_to": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"end_pose": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
}
},
"start_pos": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
}
},
"gripper_width": {
"dtype": "float32",
"shape": [
1
],
"names": {
"motors": [
"motor_0"
]
}
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

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

## 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

元数据文件为[meta/info.json](meta/info.json)，其内容如下：
json
{
"codebase_version": "v2.0",
"robot_type": "未知",
"total_episodes": 1447,
"total_frames": 699432,
"total_tasks": 1,
"total_videos": 1447,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1447"
},
"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": {
"observation.image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_data_index_from": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_data_index_to": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"end_pose": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
}
},
"start_pos": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
}
},
"gripper_width": {
"dtype": "float32",
"shape": [
1
],
"names": {
"motors": [
"motor_0"
]
}
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}

## 引用

**BibTeX格式引用**：
bibtex
[需补充更多信息]

搜集汇总

背景与挑战

背景概述

该数据集名为'umi_cup_in_the_wild'，由LeRobot创建，采用Apache-2.0许可证。它包含1447个episodes和699432个frames，数据以10fps的视频（224x224分辨率）和机器人状态特征形式组织，总大小约3.15GB。数据集结构支持训练任务，并包括电机状态、时间戳等特征信息。