ankile/threading-d1-dagger-sobol-v1-r11

---
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": "panda",
"total_episodes": 50,
"total_frames": 17991,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:50"
},
"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.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_quat_x",
"eef_quat_y",
"eef_quat_z",
"eef_quat_w",
"gripper_qpos_left",
"gripper_qpos_right"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
28
],
"names": [
"needle_pos_x",
"needle_pos_y",
"needle_pos_z",
"needle_quat_x",
"needle_quat_y",
"needle_quat_z",
"needle_quat_w",
"needle_to_eef_pos_x",
"needle_to_eef_pos_y",
"needle_to_eef_pos_z",
"needle_to_eef_quat_x",
"needle_to_eef_quat_y",
"needle_to_eef_quat_z",
"needle_to_eef_quat_w",
"tripod_pos_x",
"tripod_pos_y",
"tripod_pos_z",
"tripod_quat_x",
"tripod_quat_y",
"tripod_quat_z",
"tripod_quat_w",
"tripod_to_eef_pos_x",
"tripod_to_eef_pos_y",
"tripod_to_eef_pos_z",
"tripod_to_eef_quat_x",
"tripod_to_eef_quat_y",
"tripod_to_eef_quat_z",
"tripod_to_eef_quat_w"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_eef_pos_x",
"delta_eef_pos_y",
"delta_eef_pos_z",
"delta_eef_rot_x",
"delta_eef_rot_y",
"delta_eef_rot_z",
"gripper_action"
]
},
"source": {
"dtype": "int64",
"shape": [
1
],
"names": [
"source_id"
]
},
"success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success_flag"
]
},
"intervention": {
"dtype": "int64",
"shape": [
1
],
"names": [
"intervention_flag"
]
},
"is_valid": {
"dtype": "int64",
"shape": [
1
],
"names": [
"is_valid_flag"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "int64",
"shape": [
1
],
"names": [
"done_flag"
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]
```

许可证：apache-2.0
任务类别：
- 机器人学（robotics）
标签：
- LeRobot
配置项：
- 配置名称：默认
数据文件：data/*/*.parquet

本数据集基于[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": "Panda机器人 (panda)",
"总任务回合数": 50,
"总帧数": 17991,
"总任务数": 1,
"数据块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 20,
"数据划分": {
"训练集": "0:50"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征项": {
"观测.状态": {
"数据类型": "float32",
"形状": [9],
"变量名": [
"末端执行器x位置",
"末端执行器y位置",
"末端执行器z位置",
"末端执行器四元数x分量",
"末端执行器四元数y分量",
"末端执行器四元数z分量",
"末端执行器四元数w分量",
"左侧夹爪关节位置",
"右侧夹爪关节位置"
]
},
"观测.环境状态": {
"数据类型": "float32",
"形状": [28],
"变量名": [
"针具x位置",
"针具y位置",
"针具z位置",
"针具四元数x分量",
"针具四元数y分量",
"针具四元数z分量",
"针具四元数w分量",
"针具相对于末端执行器的x位置",
"针具相对于末端执行器的y位置",
"针具相对于末端执行器的z位置",
"针具相对于末端执行器的四元数x分量",
"针具相对于末端执行器的四元数y分量",
"针具相对于末端执行器的四元数z分量",
"针具相对于末端执行器的四元数w分量",
"三脚架x位置",
"三脚架y位置",
"三脚架z位置",
"三脚架四元数x分量",
"三脚架四元数y分量",
"三脚架四元数z分量",
"三脚架四元数w分量",
"三脚架相对于末端执行器的x位置",
"三脚架相对于末端执行器的y位置",
"三脚架相对于末端执行器的z位置",
"三脚架相对于末端执行器的四元数x分量",
"三脚架相对于末端执行器的四元数y分量",
"三脚架相对于末端执行器的四元数z分量",
"三脚架相对于末端执行器的四元数w分量"
]
},
"动作": {
"数据类型": "float32",
"形状": [7],
"变量名": [
"末端执行器x方向位移增量",
"末端执行器y方向位移增量",
"末端执行器z方向位移增量",
"末端执行器x方向旋转增量",
"末端执行器y方向旋转增量",
"末端执行器z方向旋转增量",
"夹爪动作指令"
]
},
"来源": {
"数据类型": "int64",
"形状": [1],
"变量名": [
"来源标识"
]
},
"任务成功": {
"数据类型": "int64",
"形状": [1],
"变量名": [
"成功标识"
]
},
"人工干预": {
"数据类型": "int64",
"形状": [1],
"变量名": [
"人工干预标识"
]
},
"有效帧": {
"数据类型": "int64",
"形状": [1],
"变量名": [
"有效帧标识"
]
},
"奖励值": {
"数据类型": "float32",
"形状": [1],
"变量名": [
"奖励值"
]
},
"回合结束": {
"数据类型": "int64",
"形状": [1],
"变量名": [
"回合结束标识"
]
},
"观测图像.智能视角": {
"数据类型": "视频 (video)",
"形状": [256, 256, 3],
"变量名": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.机器人0眼在手视角": {
"数据类型": "视频 (video)",
"形状": [256, 256, 3],
"变量名": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"变量名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"变量名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"变量名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"变量名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"变量名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]