apaszynska/portafilter-regrasp-v6-slow-sticker-merged

--- 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": "v3.0", "robot_type": "bi_dk1_follower", "total_episodes": 247, "total_frames": 229610, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:247" }, "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": { "action": { "dtype": "float32", "names": [ "left_joint_1.pos", "left_joint_2.pos", "left_joint_3.pos", "left_joint_4.pos", "left_joint_5.pos", "left_joint_6.pos", "left_gripper.pos", "right_joint_1.pos", "right_joint_2.pos", "right_joint_3.pos", "right_joint_4.pos", "right_joint_5.pos", "right_joint_6.pos", "right_gripper.pos" ], "shape": [ 14 ] }, "observation.state": { "dtype": "float32", "names": [ "left_joint_1.pos", "left_joint_2.pos", "left_joint_3.pos", "left_joint_4.pos", "left_joint_5.pos", "left_joint_6.pos", "left_gripper.pos", "right_joint_1.pos", "right_joint_2.pos", "right_joint_3.pos", "right_joint_4.pos", "right_joint_5.pos", "right_joint_6.pos", "right_gripper.pos" ], "shape": [ 14 ] }, "observation.images.camera_0": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_1": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.camera_2": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "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] ```license: 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：data/*/*.parquet --- 本数据集由[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 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](meta/info.json): json { "代码库版本": "v3.0", "机器人类型": "bi_dk1_follower", "总回合数": 247, "总帧数": 229610, "总任务数": 1, "块大小": 1000, "数据文件总大小（单位：MB）": 100, "视频文件总大小（单位：MB）": 200, "帧率": 30, "数据拆分": { "训练集": "0:247" }, "数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "动作（action）": { "数据类型": "float32", "维度名称": [ "left_joint_1.pos", "left_joint_2.pos", "left_joint_3.pos", "left_joint_4.pos", "left_joint_5.pos", "left_joint_6.pos", "left_gripper.pos", "right_joint_1.pos", "right_joint_2.pos", "right_joint_3.pos", "right_joint_4.pos", "right_joint_5.pos", "right_joint_6.pos", "right_gripper.pos" ], "形状": [ 14 ] }, "观测.状态（observation.state）": { "数据类型": "float32", "维度名称": [ "left_joint_1.pos", "left_joint_2.pos", "left_joint_3.pos", "left_joint_4.pos", "left_joint_5.pos", "left_joint_6.pos", "left_gripper.pos", "right_joint_1.pos", "right_joint_2.pos", "right_joint_3.pos", "right_joint_4.pos", "right_joint_5.pos", "right_joint_6.pos", "right_gripper.pos" ], "形状": [ 14 ] }, "观测.图像.camera_0": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "观测.图像.camera_1": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "观测.图像.camera_2": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "回合索引（episode_index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引（index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引（task_index）": { "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]