eunjuri/filled_bottle_no_tactile

--- 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). ## 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": "v2.1", "robot_type": "Unitree_G1_Inspire", "total_episodes": 83, "total_frames": 28890, "total_tasks": 1, "total_videos": 83, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:83" }, "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.state": { "dtype": "float32", "shape": [ 26 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] ] }, "observation.language.tokens": { "dtype": "int32", "shape": [ 48 ], "names": [ "seq" ] }, "observation.language.attention_mask": { "dtype": "int8", "shape": [ 48 ], "names": [ "seq" ] }, "observation.images.cam_left_high": { "dtype": "video", "shape": [ 3, 480, 848 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 848, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "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 数据文件路径: data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)工具链构建。 ## 数据集说明 - **项目主页：** [需补充更多信息] - **相关论文：** [需补充更多信息] - **许可证：** Apache-2.0 ## 数据集结构 `[meta/info.json](meta/info.json)` 文件内容如下： json { "代码库版本": "v2.1", "机器人类型": "Unitree_G1_Inspire", "总回合数": 83, "总帧数": 28890, "总任务数": 1, "总视频数": 83, "总数据块数": 1, "单数据块大小": 1000, "帧率(fps)": 30, "数据集划分": { "训练集": "0:83" }, "数据路径模板": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频路径模板": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "观测状态": { "数据类型": "float32", "形状": [26], "关节名称列表": [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] }, "动作数据": { "数据类型": "float32", "形状": [26], "关节名称列表": [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] }, "观测语言Token（Token）": { "数据类型": "int32", "形状": [48], "维度名称": "seq" }, "观测语言注意力掩码": { "数据类型": "int8", "形状": [48], "维度名称": "seq" }, "左侧高视角相机图像": { "数据类型": "video", "形状": [3, 480, 848], "维度名称": ["channels", "height", "width"], "附加信息": { "视频帧率": 30.0, "视频高度": 480, "视频宽度": 848, "通道数": 3, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "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 } } } ## 参考文献 **BibTeX：** bibtex [需补充更多信息]