Biamterdex/amd_hackathon_mobile_arm-03-50eps
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--- 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": "v3.0", "robot_type": "lekiwi_client", "total_episodes": 50, "total_frames": 29959, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 15, "splits": { "train": "0:50" }, "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": "float32", "shape": [ 9 ], "names": [ "arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel" ] }, "observation.state": { "dtype": "float32", "shape": [ 9 ], "names": [ "arm_shoulder_pan.pos", "arm_shoulder_lift.pos", "arm_elbow_flex.pos", "arm_wrist_flex.pos", "arm_wrist_roll.pos", "arm_gripper.pos", "x.vel", "y.vel", "theta.vel" ] }, "observation.images.front": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 640, 480, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 640, "video.width": 480, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.above": { "dtype": "video", "shape": [ 640, 480, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 640, "video.width": 480, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "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（robotics） 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)开发构建。 ## 数据集描述 - **主页：** [需补充更多信息] - **论文：** [需补充更多信息] - **许可证：** apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "代码库版本": "v3.0", "机器人类型": "lekiwi_client", "总任务回合数": 50, "总帧数": 29959, "总任务数": 1, "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": 15, "数据集划分": { "训练集": "0:50" }, "数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "动作（action）": { "数据类型": "float32", "形状": [9], "字段名称": [ "机械臂肩偏航关节位置（arm_shoulder_pan.pos）", "机械臂肩抬升关节位置（arm_shoulder_lift.pos）", "机械臂肘关节屈伸位置（arm_elbow_flex.pos）", "机械臂腕关节屈伸位置（arm_wrist_flex.pos）", "机械臂腕关节旋转位置（arm_wrist_roll.pos）", "机械臂夹爪位置（arm_gripper.pos）", "X轴线速度（x.vel）", "Y轴线速度（y.vel）", "Theta轴角速度（theta.vel）" ] }, "观测状态（observation.state）": { "数据类型": "float32", "形状": [9], "字段名称": [ "机械臂肩偏航关节位置（arm_shoulder_pan.pos）", "机械臂肩抬升关节位置（arm_shoulder_lift.pos）", "机械臂肘关节屈伸位置（arm_elbow_flex.pos）", "机械臂腕关节屈伸位置（arm_wrist_flex.pos）", "机械臂腕关节旋转位置（arm_wrist_roll.pos）", "机械臂夹爪位置（arm_gripper.pos）", "X轴线速度（x.vel）", "Y轴线速度（y.vel）", "Theta轴角速度（theta.vel）" ] }, "前视摄像头图像（observation.images.front）": { "数据类型": "视频", "形状": [480, 640, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 15, "视频通道数": 3, "是否包含音频": false } }, "腕部摄像头图像（observation.images.wrist）": { "数据类型": "视频", "形状": [640, 480, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 640, "视频宽度": 480, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 15, "视频通道数": 3, "是否包含音频": false } }, "俯视摄像头图像（observation.images.above）": { "数据类型": "视频", "形状": [640, 480, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 640, "视频宽度": 480, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 15, "视频通道数": 3, "是否包含音频": false } }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [1], "字段名称": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [1], "字段名称": null }, "回合索引（episode_index）": { "数据类型": "int64", "形状": [1], "字段名称": null }, "全局索引（index）": { "数据类型": "int64", "形状": [1], "字段名称": null }, "任务索引（task_index）": { "数据类型": "int64", "形状": [1], "字段名称": null } } } ## 引用 **BibTeX格式引用：** bibtex [需补充更多信息]
