franka_multi_task_v1

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": "Franka",
"total_episodes": 200,
"total_frames": 75843,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:200"
},
"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": {
"action": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
],
"fps": 10
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
],
"fps": 10
},
"observation.images.wrist_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"observation.images.side_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"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]
```

本数据集基于[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许可证

## 数据集结构
数据集结构元数据存储于`[meta/info.json](meta/info.json)`，其内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "Franka",
"总回合数": 200,
"总帧数": 75843,
"总任务数": 4,
"分块大小": 1000,
"数据文件总大小（单位：MB）": 100,
"视频文件总大小（单位：MB）": 500,
"帧率": 10,
"数据集划分": {
"训练集": "0:200"
},
"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",
"特征项": {
"动作": {
"数据类型": "float64",
"形状": [8],
"维度名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"],
"帧率": 10
},
"观测.状态": {
"数据类型": "float64",
"形状": [8],
"维度名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "gripper"],
"帧率": 10
},
"观测.图像.腕部相机": {
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 10,
"通道数": 3,
"无音频": true
},
"数据类型": "video"
},
"观测.图像.侧方相机": {
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 10,
"通道数": 3,
"无音频": true
},
"数据类型": "video"
},
"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
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"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引用**：
bibtex
[需补充更多信息]