YoungminJoo/can_task

--- 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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=YoungminJoo/can_task"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": null, "total_episodes": 30, "total_frames": 3121, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:30" }, "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": { "observation.state": { "dtype": "float64", "shape": [ 13 ], "names": { "motors": [ "right_x", "right_y", "right_z", "right_q1", "right_q2", "right_q3", "right_q4", "right_g1", "right_g2", "right_g3", "right_g4", "right_g5", "right_g6" ] } }, "observation.images.front": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "width", "height", "channels" ], "info": { "video.fps": 10.0, "video.height": 84, "video.width": 84, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 84, 84, 3 ], "names": [ "width", "height", "channels" ], "info": { "video.fps": 10.0, "video.height": 84, "video.width": 84, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "done": { "dtype": "bool", "shape": [ 1 ] }, "reward": { "dtype": "float64", "shape": [ 1 ] }, "action": { "dtype": "float64", "shape": [ 7 ], "names": { "motors": [ "right_x", "right_y", "right_z", "right_r", "right_p", "right_y", "right_gripper" ] } }, "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 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。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=YoungminJoo/can_task"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集说明 - **主页:** [更多信息待补充] - **论文:** [更多信息待补充] - **许可证:** Apache-2.0 ## 数据集结构 [meta/info.json]: json { "代码库版本": "v3.0", "机器人类型": null, "总回合数": 30, "总帧数": 3121, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 10, "数据集划分": { "训练集": "0:30" }, "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": { "观测状态": { "数据类型": "float64", "形状": [ 13 ], "命名项": { "电机关节": [ "右X轴", "右Y轴", "右Z轴", "右四元数1", "右四元数2", "右四元数3", "右四元数4", "右夹持器关节1", "右夹持器关节2", "右夹持器关节3", "右夹持器关节4", "右夹持器关节5", "右夹持器关节6" ] } }, "前置观测图像": { "数据类型": "video", "形状": [ 84, 84, 3 ], "命名项": [ "宽度", "高度", "通道数" ], "详细信息": { "视频帧率": 10.0, "视频高度": 84, "视频宽度": 84, "视频通道数": 3, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "腕部观测图像": { "数据类型": "video", "形状": [ 84, 84, 3 ], "命名项": [ "宽度", "高度", "通道数" ], "详细信息": { "视频帧率": 10.0, "视频高度": 84, "视频宽度": 84, "视频通道数": 3, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "完成标志": { "数据类型": "bool", "形状": [ 1 ] }, "奖励值": { "数据类型": "float64", "形状": [ 1 ] }, "动作": { "数据类型": "float64", "形状": [ 7 ], "命名项": { "电机关节": [ "右X轴", "右Y轴", "右Z轴", "右滚转", "右俯仰", "右偏航", "右夹持器" ] } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "命名项": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null } } } ## 引用 **BibTeX格式：** bibtex [更多信息待补充]