xarm_lift_medium_replay_image

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** https://www.nicklashansen.com/td-mpc/
- **Paper:** https://arxiv.org/abs/2203.04955
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.image": {
"dtype": "image",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
4
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3"
]
}
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2"
]
}
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex

@inproceedings{Hansen2022tdmpc,
title={Temporal Difference Learning for Model Predictive Control},
author={Nicklas Hansen and Xiaolong Wang and Hao Su},
booktitle={ICML},
year={2022}
}

```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集说明
- **主页**：https://www.nicklashansen.com/td-mpc/
- **论文**：https://arxiv.org/abs/2203.04955
- **许可协议**：MIT许可证

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总回合数": 800,
"总帧数": 20000,
"总任务数": 1,
"总视频数": 0,
"总分块数": 1,
"分块大小": 1000,
"帧率": 15,
"数据集划分": {
"训练集": "0:800"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": null,
"特征项": {
"观测.图像": {
"数据类型": "图像",
"形状": [
84,
84,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
]
},
"观测.状态": {
"数据类型": "float32",
"形状": [
4
],
"维度说明": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3"
]
}
},
"动作": {
"数据类型": "float32",
"形状": [
3
],
"维度说明": {
"电机": [
"motor_0",
"motor_1",
"motor_2"
]
}
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"下一时刻奖励": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"下一时刻终止标记": {
"数据类型": "bool",
"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
@inproceedings{Hansen2022tdmpc,
title={用于模型预测控制的时序差分学习（Temporal Difference Learning）},
author={Nicklas Hansen and Xiaolong Wang and Hao Su},
booktitle={ICML（国际机器学习大会，International Conference on Machine Learning）},
year={2022}
}