michios/droid_xxjd_5_canonical

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - droid - canonical 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": "Franka", "total_episodes": 105, "total_frames": 31339, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 15, "splits": { "train": "0:105" }, "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": { "is_first": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_last": { "dtype": "bool", "shape": [ 1 ], "names": null }, "is_terminal": { "dtype": "bool", "shape": [ 1 ], "names": null }, "language_instruction": { "dtype": "string", "shape": [ 1 ], "names": null }, "language_instruction_2": { "dtype": "string", "shape": [ 1 ], "names": null }, "language_instruction_3": { "dtype": "string", "shape": [ 1 ], "names": null }, "observation.state.gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": { "axes": [ "gripper" ] } }, "observation.state.cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "observation.state.joint_position": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] } }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "axes": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ] } }, "observation.images.wrist_left": { "dtype": "video", "shape": [ 180, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 180, "video.width": 320, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.exterior_1_left": { "dtype": "video", "shape": [ 180, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 180, "video.width": 320, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.exterior_2_left": { "dtype": "video", "shape": [ 180, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 180, "video.width": 320, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "action.gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": { "axes": [ "gripper" ] } }, "action.gripper_velocity": { "dtype": "float32", "shape": [ 1 ], "names": { "axes": [ "gripper" ] } }, "action.cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "action.cartesian_velocity": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "action.joint_position": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] } }, "action.joint_velocity": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] } }, "action.original": { "dtype": "float32", "shape": [ 7 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] } }, "action.source_joint_velocity_gripper": { "dtype": "float32", "shape": [ 8 ], "names": { "axes": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ] } }, "action": { "dtype": "float32", "shape": [ 8 ], "names": { "axes": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper" ] } }, "discount": { "dtype": "float32", "shape": [ 1 ], "names": null }, "reward": { "dtype": "float32", "shape": [ 1 ], "names": null }, "task_category": { "dtype": "string", "shape": [ 1 ], "names": null }, "building": { "dtype": "string", "shape": [ 1 ], "names": null }, "collector_id": { "dtype": "string", "shape": [ 1 ], "names": null }, "datetime": { "dtype": "string", "shape": [ 1 ], "names": null }, "camera_extrinsics.wrist_left": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "camera_extrinsics.exterior_1_left": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "camera_extrinsics.exterior_2_left": { "dtype": "float32", "shape": [ 6 ], "names": { "axes": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "is_episode_successful": { "dtype": "bool", "shape": [ 1 ], "names": null }, "environment.conveyor_speed": { "dtype": "float32", "shape": [ 1 ], "names": null }, "subtask_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "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 - droid - canonical 配置项: - 配置名称: default 数据文件: data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。 ## 数据集说明 - **主页:** [需补充更多信息] - **论文:** [需补充更多信息] - **许可协议:** 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": "Franka", "总回合数": 105, "总帧数": 31339, "总任务数": 2, "数据块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 500, "帧率": 15, "数据集划分": { "训练集": "0:105" }, "数据路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "是否为起始帧": { "数据类型": "bool", "形状": [ 1 ], "字段名": null }, "是否为结束帧": { "数据类型": "bool", "形状": [ 1 ], "字段名": null }, "是否为终止回合": { "数据类型": "bool", "形状": [ 1 ], "字段名": null }, "语言指令": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "语言指令2": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "语言指令3": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "观测数据.状态.夹爪位置": { "数据类型": "float32", "形状": [ 1 ], "字段说明": { "轴": [ "夹爪" ] } }, "观测数据.状态.笛卡尔位姿": { "数据类型": "float32", "形状": [ 6 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航" ] } }, "观测数据.状态.关节位置": { "数据类型": "float32", "形状": [ 7 ], "字段说明": { "轴": [ "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": { "数据类型": "float32", "形状": [ 8 ], "字段说明": { "轴": [ "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪" ] } }, "观测数据.图像.左侧腕部相机": { "数据类型": "video", "形状": [ 180, 320, 3 ], "字段说明": [ "高度", "宽度", "通道数" ], "详细信息": { "video.height": 180, "video.width": 320, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "观测数据.图像.左侧外部1相机": { "数据类型": "video", "形状": [ 180, 320, 3 ], "字段说明": [ "高度", "宽度", "通道数" ], "详细信息": { "video.height": 180, "video.width": 320, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "观测数据.图像.左侧外部2相机": { "数据类型": "video", "形状": [ 180, 320, 3 ], "字段说明": [ "高度", "宽度", "通道数" ], "详细信息": { "video.height": 180, "video.width": 320, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "动作.夹爪位置": { "数据类型": "float32", "形状": [ 1 ], "字段说明": { "轴": [ "夹爪" ] } }, "动作.夹爪速度": { "数据类型": "float32", "形状": [ 1 ], "字段说明": { "轴": [ "夹爪" ] } }, "动作.笛卡尔位姿": { "数据类型": "float32", "形状": [ 6 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航" ] } }, "动作.笛卡尔速度": { "数据类型": "float32", "形状": [ 6 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航" ] } }, "动作.关节位置": { "数据类型": "float32", "形状": [ 7 ], "字段说明": { "轴": [ "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6" ] } }, "动作.关节速度": { "数据类型": "float32", "形状": [ 7 ], "字段说明": { "轴": [ "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6" ] } }, "动作.原始动作": { "数据类型": "float32", "形状": [ 7 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航", "夹爪" ] } }, "动作.源关节速度与夹爪": { "数据类型": "float32", "形状": [ 8 ], "字段说明": { "轴": [ "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪" ] } }, "动作": { "数据类型": "float32", "形状": [ 8 ], "字段说明": { "轴": [ "关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪" ] } }, "折扣因子": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "奖励": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "任务类别": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "采集场景": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "采集者ID": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "采集时间": { "数据类型": "string", "形状": [ 1 ], "字段名": null }, "相机外参.左侧腕部相机": { "数据类型": "float32", "形状": [ 6 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航" ] } }, "相机外参.左侧外部1相机": { "数据类型": "float32", "形状": [ 6 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航" ] } }, "相机外参.左侧外部2相机": { "数据类型": "float32", "形状": [ 6 ], "字段说明": { "轴": [ "x", "y", "z", "滚转", "俯仰", "偏航" ] } }, "回合成功标识": { "数据类型": "bool", "形状": [ 1 ], "字段名": null }, "环境.传送带速度": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "子任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null } } } ## 引用 **BibTeX格式:** bibtex [需补充更多信息]