continuallearning/eval_baseline2_seqfft_real4_on_real0_seed1000
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https://hf-mirror.com/datasets/continuallearning/eval_baseline2_seqfft_real4_on_real0_seed1000
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资源简介：
---
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=continuallearning/eval_baseline2_seqfft_real4_on_real0_seed1000">
<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": "franka",
"total_episodes": 4,
"total_frames": 579,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 1,
"video_files_size_in_mb": 1,
"fps": 15,
"splits": {
"train": "0:4"
},
"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.images.primary": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"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": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state.cartesian": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.state.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.joints": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"observation.state.target": {
"dtype": "float32",
"shape": [
6
],
"names": [
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"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]
```
### 数据集基础信息
- 许可证：Apache-2.0
- 任务类别：机器人学
- 标签：LeRobot
- 配置信息：
- 配置名称：default
- 数据文件匹配模式：`data/*/*.parquet`（Parquet格式）
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)工具链构建。
[点击此处可视化本数据集](https://huggingface.co/spaces/lerobot/visualize_dataset?path=continuallearning/eval_baseline2_seqfft_real4_on_real0_seed1000)（嵌入了适配明暗主题的可视化徽章）
## 数据集说明
- **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` 文件详情如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "弗兰克卡（Franka）机械臂",
"总轨迹数": 4,
"总帧数": 579,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 1,
"视频文件总大小（MB）": 1,
"帧率": 15,
"数据集划分": {
"训练集": "0:4"
},
"数据文件路径模板": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径模板": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"观测数据.主摄像头图像（observation.images.primary）": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 15.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 15,
"视频通道数": 3,
"无音频": false
}
},
"观测数据.腕部摄像头图像（observation.images.wrist）": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 15.0,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 15,
"视频通道数": 3,
"无音频": false
}
},
"观测数据.笛卡尔空间状态（observation.state.cartesian）": {
"数据类型": "32位浮点型（float32）",
"形状": [6],
"维度名称": ["x", "y", "z", "滚转（roll）", "俯仰（pitch）", "偏航（yaw）"]
},
"观测数据.夹爪状态（observation.state.gripper）": {
"数据类型": "32位浮点型（float32）",
"形状": [1],
"维度名称": ["gripper"]
},
"观测数据.关节状态（observation.state.joints）": {
"数据类型": "32位浮点型（float32）",
"形状": [7],
"维度名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]
},
"观测数据.目标状态（observation.state.target）": {
"数据类型": "32位浮点型（float32）",
"形状": [6],
"维度名称": ["target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw"]
},
"观测数据.总状态（observation.state）": {
"数据类型": "32位浮点型（float32）",
"形状": [20],
"维度名称": ["x", "y", "z", "滚转（roll）", "俯仰（pitch）", "偏航（yaw）", "夹爪开度", "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw"]
},
"动作指令（action）": {
"数据类型": "32位浮点型（float32）",
"形状": [7],
"维度名称": ["x", "y", "z", "滚转（roll）", "俯仰（pitch）", "偏航（yaw）", "夹爪开度"]
},
"时间戳（timestamp）": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"轨迹索引（episode_index）": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式：**
bibtex
[需补充更多信息]
提供机构：
continuallearning
