FedorX8/dobbe_lerobot

---
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": "hello_stretch",
"total_episodes": 5208,
"total_frames": 1139911,
"total_tasks": 7,
"chunks_size": 1000,
"fps": 3,
"splits": {
"train": "0:5208"
},
"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.wrist_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 3.75,
"video.height": 256,
"video.width": 256,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"pad",
"gripper"
]
},
"fps": 3
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"fps": 3
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 3
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
```

## 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：default
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`文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "hello_stretch",
"总交互回合数": 5208,
"总帧数": 1139911,
"总任务数": 7,
"分块大小": 1000,
"帧率": 3,
"数据集划分": {
"训练集": "0:5208"
},
"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.图像.腕部相机图像": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "RGB通道"],
"补充信息": {
"视频帧率": 3.75,
"视频高度": 256,
"视频宽度": 256,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"维度名称": {
"电机参数": ["X轴平移", "Y轴平移", "Z轴平移", "横滚角", "俯仰角", "偏航角", "衬垫开度", "夹爪开度"]
},
"帧率": 3
},
"动作指令": {
"数据类型": "float32",
"形状": [7],
"维度名称": {
"电机参数": ["X轴平移", "Y轴平移", "Z轴平移", "横滚角", "俯仰角", "偏航角", "夹爪开度"]
},
"帧率": 3
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null,
"帧率": 3
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
"帧率": 3
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
"帧率": 3
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
"帧率": 3
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null,
"帧率": 3
}
},
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200
}

## 引用

**BibTeX格式引用**：
bibtex
[需补充更多信息]