SUZ-tsinghua/RoboTwin_hanging_mug_randomized

---
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": "aloha",
"total_episodes": 500,
"total_frames": 160869,
"total_tasks": 494,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:500"
},
"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": [
16
],
"names": [
[
"left_x",
"left_y",
"left_z",
"left_qw",
"left_qx",
"left_qy",
"left_qz",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_qw",
"right_qx",
"right_qy",
"right_qz",
"right_gripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
20,
14
],
"names": [
[
"left_x",
"left_y",
"left_z",
"left_axis_angle1",
"left_axis_angle2",
"left_axis_angle3",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_axis_angle1",
"right_axis_angle2",
"right_axis_angle3",
"right_gripper"
]
]
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
3,
240,
320
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
3,
240,
320
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
3,
240,
320
],
"names": [
"channels",
"height",
"width"
]
},
"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：data/*/*.parquet
---

本数据集由[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)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]
- **许可证**：Apache-2.0

## 数据集结构

`meta/info.json`：
json
{
"代码库版本": "v3.0",
"机器人类型": "aloha",
"总回合数": 500,
"总帧数": 160869,
"总任务数": 494,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 15,
"数据集划分": {
"训练集": "0:500"
},
"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",
"特征字段": {
"观测状态（observation.state）": {
"数据类型": "float32",
"形状": [
16
],
"名称": [
[
"left_x",
"left_y",
"left_z",
"left_qw",
"left_qx",
"left_qy",
"left_qz",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_qw",
"right_qx",
"right_qy",
"right_qz",
"right_gripper"
]
]
},
"动作（action）": {
"数据类型": "float32",
"形状": [
20,
14
],
"名称": [
[
"left_x",
"left_y",
"left_z",
"left_axis_angle1",
"left_axis_angle2",
"left_axis_angle3",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_axis_angle1",
"right_axis_angle2",
"right_axis_angle3",
"right_gripper"
]
]
},
"观测图像：顶部摄像头（observation.images.cam_high）": {
"数据类型": "image",
"形状": [
3,
240,
320
],
"名称": [
"通道数",
"高度",
"宽度"
]
},
"观测图像：左腕摄像头（observation.images.cam_left_wrist）": {
"数据类型": "image",
"形状": [
3,
240,
320
],
"名称": [
"通道数",
"高度",
"宽度"
]
},
"观测图像：右腕摄像头（observation.images.cam_right_wrist）": {
"数据类型": "image",
"形状": [
3,
240,
320
],
"名称": [
"通道数",
"高度",
"宽度"
]
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [
1
],
"名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [
1
],
"名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [
1
],
"名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [
1
],
"名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [
1
],
"名称": null
}
}
}

## 引用

**BibTeX格式引用**：
bibtex
[需补充更多信息]