talzoomanzoo/can_task

--- 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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=talzoomanzoo/can_task"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": null, "total_episodes": 30, "total_frames": 4077, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:30" }, "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": "float64", "shape": [ 13 ], "names": { "motors": [ "right_x", "right_y", "right_z", "right_q1", "right_q2", "right_q3", "right_q4", "right_g1", "right_g2", "right_g3", "right_g4", "right_g5", "right_g6" ] } }, "observation.images.front": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "width", "height", "channels" ], "info": { "video.fps": 10.0, "video.height": 84, "video.width": 84, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "width", "height", "channels" ], "info": { "video.fps": 10.0, "video.height": 84, "video.width": 84, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "done": { "dtype": "bool", "shape": [ 1 ] }, "reward": { "dtype": "float64", "shape": [ 1 ] }, "action": { "dtype": "float64", "shape": [ 7 ], "names": { "motors": [ "right_x", "right_y", "right_z", "right_r", "right_p", "right_y", "right_gripper" ] } }, "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：默认配置 数据文件路径：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=talzoomanzoo/can_task"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集说明 - **主页：** [暂未提供更多信息] - **论文：** [暂未提供更多信息] - **许可证：** Apache-2.0 ## 数据集结构 元信息文件路径为[meta/info.json](meta/info.json)，其内容如下： json { "代码库版本": "v3.0", "机器人类型": null, "总轨迹数": 30, "总帧数": 4077, "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": 10, "数据集划分": { "训练集": "0:30" }, "数据文件路径模板": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径模板": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测状态（observation.state）": { "数据类型": "float64", "形状": [13], "维度命名（电机轴）": { "motors": [ "right_x", "right_y", "right_z", "right_q1", "right_q2", "right_q3", "right_q4", "right_g1", "right_g2", "right_g3", "right_g4", "right_g5", "right_g6" ] } }, "前置摄像头图像（observation.images.front）": { "数据类型": "video", "形状": [84, 84, 3], "维度名称": ["宽度", "高度", "通道数"], "详细信息": { "视频帧率": 10.0, "视频高度": 84, "视频宽度": 84, "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, "是否包含音频": false } }, "腕部摄像头图像（observation.images.wrist）": { "数据类型": "video", "形状": [84, 84, 3], "维度名称": ["宽度", "高度", "通道数"], "详细信息": { "视频帧率": 10.0, "视频高度": 84, "视频宽度": 84, "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, "是否包含音频": false } }, "结束标记（done）": { "数据类型": "bool", "形状": [1] }, "奖励值（reward）": { "数据类型": "float64", "形状": [1] }, "动作指令（action）": { "数据类型": "float64", "形状": [7], "维度命名（电机轴）": { "motors": [ "right_x", "right_y", "right_z", "right_r", "right_p", "right_y", "right_gripper" ] } }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [1], "维度命名": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [1], "维度命名": null }, "轨迹索引（episode_index）": { "数据类型": "int64", "形状": [1], "维度命名": null }, "全局索引（index）": { "数据类型": "int64", "形状": [1], "维度命名": null }, "任务索引（task_index）": { "数据类型": "int64", "形状": [1], "维度命名": null } } } ## 引用 **BibTeX格式引用：** bibtex [暂未提供更多信息]