poolvarine/robomimic-mh-lift-image-dense

---
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": "v2.1",
"robot_type": "robomimic",
"total_episodes": 300,
"total_frames": 31127,
"total_tasks": 1,
"total_videos": 600,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:300"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"eef_delta_pos_x",
"eef_delta_pos_y",
"eef_delta_pos_z",
"eef_delta_rot_rx",
"eef_delta_rot_ry",
"eef_delta_rot_rz",
"gripper_action"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": [
"done"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"robot0_eef_pos_0",
"robot0_eef_pos_1",
"robot0_eef_pos_2",
"robot0_eef_quat_0",
"robot0_eef_quat_1",
"robot0_eef_quat_2",
"robot0_eef_quat_3",
"robot0_gripper_qpos_0",
"robot0_gripper_qpos_1"
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]
```

---
license: Apache-2.0
task_categories:
- 机器人学
tags:
- LeRobot（LeRobot）
configs:
- config_name: default
data_files: data/*/*.parquet
---

本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)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]:
json
{
"代码库版本": "v2.1",
"机器人类型": "robomimic",
"总轨迹数": 300,
"总帧数": 31127,
"总任务数": 1,
"总视频数": 600,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 20,
"数据集划分": {
"训练集": "0:300"
},
"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": {
"动作": {
"数据类型": "float32",
"形状": [7],
"字段名称": [
"eef_delta_pos_x（末端执行器增量位置x轴）",
"eef_delta_pos_y（末端执行器增量位置y轴）",
"eef_delta_pos_z（末端执行器增量位置z轴）",
"eef_delta_rot_rx（末端执行器旋转rx轴角度）",
"eef_delta_rot_ry（末端执行器旋转ry轴角度）",
"eef_delta_rot_rz（末端执行器旋转rz轴角度）",
"gripper_action（夹爪动作）"
]
},
"next.done": {
"数据类型": "bool",
"形状": [1],
"字段名称": ["done（完成标记）"]
},
"观测.状态": {
"数据类型": "float32",
"形状": [9],
"字段名称": [
"robot0_eef_pos_0（机械臂0末端执行器位置x轴）",
"robot0_eef_pos_1（机械臂0末端执行器位置y轴）",
"robot0_eef_pos_2（机械臂0末端执行器位置z轴）",
"robot0_eef_quat_0（机械臂0末端执行器四元数分量0）",
"robot0_eef_quat_1（机械臂0末端执行器四元数分量1）",
"robot0_eef_quat_2（机械臂0末端执行器四元数分量2）",
"robot0_eef_quat_3（机械臂0末端执行器四元数分量3）",
"robot0_gripper_qpos_0（机械臂0夹爪关节位置0）",
"robot0_gripper_qpos_1（机械臂0夹爪关节位置1）"
]
},
"观测.图像.智能体视角": {
"数据类型": "视频",
"形状": [256, 256, 3],
"字段名称": ["height（高度）", "width（宽度）", "channel（通道数）"],
"详细信息": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"观测.图像.机械臂0腕部视角": {
"数据类型": "视频",
"形状": [256, 256, 3],
"字段名称": ["height（高度）", "width（宽度）", "channel（通道数）"],
"详细信息": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}

## 引用

**BibTeX格式：**
bibtex
[需补充更多信息]