roboturk

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

## Dataset Description

- **Homepage:** https://roboturk.stanford.edu/dataset_real.html
- **Paper:** PAPER
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 1995,
"total_frames": 187507,
"total_tasks": 3,
"total_videos": 1995,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1995"
},
"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.images.front_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"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{mandlekar2019scaling,
title={Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity},
author={Mandlekar, Ajay and Booher, Jonathan and Spero, Max and Tung, Albert and Gupta, Anchit and Zhu, Yuke and Garg, Animesh and Savarese, Silvio and Fei-Fei, Li},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={1048--1055},
year={2019},
organization={IEEE}
}
```

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

## 数据集说明

- **主页：** https://roboturk.stanford.edu/dataset_real.html
- **论文：** PAPER
- **许可证：** 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": 1995,
"总帧数": 187507,
"总任务数": 3,
"总视频数": 1995,
"总分块数": 2,
"分块大小": 1000,
"帧率": 10,
"数据集划分": {
"训练集": "0:1995"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征": {
"观测.前视RGB图像": {
"数据类型": "视频",
"形状": [480, 640, 3],
"维度命名": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 10.0,
"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
}
},
"语言指令": {
"数据类型": "字符串",
"形状": [1],
"维度命名": null
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"维度命名": {
"电机": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6", "motor_7"]
}
},
"动作": {
"数据类型": "float32",
"形状": [7],
"维度命名": {
"电机": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6"]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度命名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"下一时刻奖励": {
"数据类型": "float32",
"形状": [1],
"维度命名": null
},
"下一时刻终止标志": {
"数据类型": "布尔值",
"形状": [1],
"维度命名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
}
}
}

## 引用

**BibTeX格式：**
bibtex
@inproceedings{mandlekar2019scaling,
title={利用Roboturk将机器人监督任务扩展至数百小时：结合人类推理与灵巧操作的机器人操控数据集},
author={Mandlekar, Ajay and Booher, Jonathan and Spero, Max and Tung, Albert and Gupta, Anchit and Zhu, Yuke and Garg, Animesh and Savarese, Silvio and Fei-Fei, Li},
booktitle={2019 IEEE/RSJ智能机器人与系统国际会议(International Conference on Intelligent Robots and Systems, IROS)},
pages={1048--1055},
year={2019},
organization={IEEE}
}