Jiangeng/G1_0327

--- 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": "v2.1", "robot_type": "Unitree_G1_single_Dex3", "total_episodes": 23, "total_frames": 23318, "total_tasks": 1, "total_videos": 69, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:23" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": { "observation.state": { "dtype": "float32", "shape": [ 28 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kLeftHandThumb0", "kLeftHandThumb1", "kLeftHandThumb2", "kLeftHandMiddle0", "kLeftHandMiddle1", "kLeftHandIndex0", "kLeftHandIndex1", "kRightHandThumb0", "kRightHandThumb1", "kRightHandThumb2", "kRightHandIndex0", "kRightHandIndex1", "kRightHandMiddle0", "kRightHandMiddle1" ] ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kLeftHandThumb0", "kLeftHandThumb1", "kLeftHandThumb2", "kLeftHandMiddle0", "kLeftHandMiddle1", "kLeftHandIndex0", "kLeftHandIndex1", "kRightHandThumb0", "kRightHandThumb1", "kRightHandThumb2", "kRightHandIndex0", "kRightHandIndex1", "kRightHandMiddle0", "kRightHandMiddle1" ] ] }, "observation.images.cam_head": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "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.cam_left_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "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.cam_extra": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "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] ```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。 ## 数据集说明 - **主页**：[更多信息待补充] - **论文**：[更多信息待补充] - **许可证**：Apache-2.0 ## 数据集结构 `meta/info.json`： json { "代码库版本": "v2.1", "机器人类型": "Unitree_G1_single_Dex3", "总轨迹数": 23, "总帧数量": 23318, "总任务数": 1, "总视频数": 69, "总数据块数": 1, "数据块大小": 1000, "帧率": 30, "数据集划分": { "训练集": "0:23" }, "数据文件路径模板": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频文件路径模板": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "观测状态": { "数据类型": "float32", "形状": [ 28 ], "维度名称": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kLeftHandThumb0", "kLeftHandThumb1", "kLeftHandThumb2", "kLeftHandMiddle0", "kLeftHandMiddle1", "kLeftHandIndex0", "kLeftHandIndex1", "kRightHandThumb0", "kRightHandThumb1", "kRightHandThumb2", "kRightHandIndex0", "kRightHandIndex1", "kRightHandMiddle0", "kRightHandMiddle1" ] ] }, "动作": { "数据类型": "float32", "形状": [ 28 ], "维度名称": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kLeftHandThumb0", "kLeftHandThumb1", "kLeftHandThumb2", "kLeftHandMiddle0", "kLeftHandMiddle1", "kLeftHandIndex0", "kLeftHandIndex1", "kRightHandThumb0", "kRightHandThumb1", "kRightHandThumb2", "kRightHandIndex0", "kRightHandIndex1", "kRightHandMiddle0", "kRightHandMiddle1" ] ] }, "观测图像.cam_head": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "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.cam_left_wrist": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "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.cam_extra": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "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": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "轨迹索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX格式**： bibtex [更多信息待补充]