continuallearning/eval_dit_posttrainv2_union_norm_seqlora_real_0_on_real_0_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_dit_posttrainv2_union_norm_seqlora_real_0_on_real_0_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": 10, "total_frames": 7419, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 1, "video_files_size_in_mb": 1, "fps": 15, "splits": { "train": "0:10" }, "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（LeRobot） 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet 本数据集由LeRobot（LeRobot）工具库构建，项目仓库地址：https://github.com/huggingface/lerobot。 可通过以下链接可视化本数据集：https://huggingface.co/spaces/lerobot/visualize_dataset?path=continuallearning/eval_dit_posttrainv2_union_norm_seqlora_real_0_on_real_0_seed1000，平台适配明暗两种主题的可视化徽章。 ## 数据集描述 - **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`文件内容如下： json { "代码库版本": "v3.0", "机器人类型": "franka（弗兰克机器人）", "总回合数": 10, "总帧数": 7419, "总任务数": 1, "分块大小": 1000, "数据文件总大小（单位：MB）": 1, "视频文件总大小（单位：MB）": 1, "帧率": 15, "数据集划分": { "训练集": "0:10" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测数据.图像.主摄像头": { "数据类型": "视频", "形状": [256, 256, 3], "维度名称": ["高度", "宽度", "通道数"], "视频信息": { "视频.帧率": 15.0, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "详细信息": { "视频.高度": 256, "视频.宽度": 256, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 15, "视频.通道数": 3, "是否包含音频": false } }, "观测数据.图像.腕部摄像头": { "数据类型": "视频", "形状": [256, 256, 3], "维度名称": ["高度", "宽度", "通道数"], "视频信息": { "视频.帧率": 15.0, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "详细信息": { "视频.高度": 256, "视频.宽度": 256, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 15, "视频.通道数": 3, "是否包含音频": false } }, "观测数据.状态.笛卡尔位姿": { "数据类型": "float32", "形状": [6], "维度名称": ["x", "y", "z", "滚转", "俯仰", "偏航"] }, "观测数据.状态.夹爪": { "数据类型": "float32", "形状": [1], "维度名称": ["夹爪开度"] }, "观测数据.状态.关节角度": { "数据类型": "float32", "形状": [7], "维度名称": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6"] }, "观测数据.状态.目标位姿": { "数据类型": "float32", "形状": [6], "维度名称": ["目标x", "目标y", "目标z", "目标滚转", "目标俯仰", "目标偏航"] }, "观测数据.状态": { "数据类型": "float32", "形状": [20], "维度名称": ["x", "y", "z", "滚转", "俯仰", "偏航", "夹爪开度", "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "目标x", "目标y", "目标z", "目标滚转", "目标俯仰", "目标偏航"] }, "动作数据": { "数据类型": "float32", "形状": [7], "维度名称": ["x", "y", "z", "滚转", "俯仰", "偏航", "夹爪开度"] }, "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 }, "全局索引": { "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]