asu_table_top

该数据集为HuggingFace LeRobot格式机器人数据集。

原始信息汇总

数据集概述

基本信息

• 名称: lerobot/asu_table_top
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 许可证: MIT
• 代码库版本: v2.0
• 机器人类型: 未知 (unknown)

数据集结构

• 总片段数: 110
• 总帧数: 26113
• 总任务数: 216
• 总视频数: 110
• 总块数: 1
• 块大小: 1000
• 帧率 (fps): 5
• 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
• 数据格式: Parquet

特征描述

• observation.images.image:
  • 类型: 视频
  • 形状: [224, 224, 3]
  • 视频信息:
    • 帧率: 5.0
    • 编解码器: av1
    • 像素格式: yuv420p
    • 是否为深度图: false
    • 包含音频: false
• language_instruction:
  • 类型: 字符串
  • 形状: [1]
• observation.state:
  • 类型: float32
  • 形状: [7]
  • 名称: motor_0, motor_1, motor_2, motor_3, motor_4, motor_5, motor_6
• action:
  • 类型: float32
  • 形状: [7]
  • 名称: motor_0, motor_1, motor_2, motor_3, motor_4, motor_5, motor_6
• timestamp:
  • 类型: float32
  • 形状: [1]
• episode_index:
  • 类型: int64
  • 形状: [1]
• frame_index:
  • 类型: int64
  • 形状: [1]
• next.reward:
  • 类型: float32
  • 形状: [1]
• next.done:
  • 类型: bool
  • 形状: [1]
• index:
  • 类型: int64
  • 形状: [1]
• task_index:
  • 类型: int64
  • 形状: [1]

相关论文

• 标题: Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation
  • 作者: Zhou, Yifan 等
  • 会议: Conference on Robot Learning
  • 年份: 2023
• 标题: Learning modular language-conditioned robot policies through attention
  • 作者: Zhou, Yifan 等
  • 期刊: Autonomous Robots
  • 年份: 2023

引用

bibtex @inproceedings{zhou2023modularity, title={Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation}, author={Zhou, Yifan and Sonawani, Shubham and Phielipp, Mariano and Stepputtis, Simon and Amor, Heni}, booktitle={Conference on Robot Learning}, pages={1684--1695}, year={2023}, organization={PMLR} } @article{zhou2023learning, title={Learning modular language-conditioned robot policies through attention}, author={Zhou, Yifan and Sonawani, Shubham and Phielipp, Mariano and Ben Amor, Heni and Stepputtis, Simon}, journal={Autonomous Robots}, pages={1--21}, year={2023}, publisher={Springer} }