tokyo_u_lsmo

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** URL
- **Paper:** https://arxiv.org/abs/2107.05842
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 50,
"total_frames": 11925,
"total_tasks": 2,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:50"
},
"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": {
"observation.images.image": {
"dtype": "video",
"shape": [
120,
120,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
13
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
@Article{Osa22,
author = {Takayuki Osa},
journal = {The International Journal of Robotics Research},
title = {Motion Planning by Learning the Solution Manifold in Trajectory Optimization},
year = {2022},
number = {3},
pages = {291--311},
volume = {41},
}
```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集描述

- **主页**：URL
- **论文**：https://arxiv.org/abs/2107.05842
- **许可协议**：MIT许可证

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总片段数": 50,
"总帧数": 11925,
"总任务数": 2,
"总视频数": 50,
"总分块数": 1,
"分块大小": 1000,
"帧率（Frames Per Second）": 5,
"数据集划分": {
"训练集": "0:50"
},
"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",
"特征项": {
"观测.图像.图像": {
"数据类型": "视频",
"维度形状": [
120,
120,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"视频信息": {
"视频帧率": 5.0,
"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
}
},
"语言指令": {
"数据类型": "字符串",
"维度形状": [
1
],
"维度名称": null
},
"观测状态": {
"数据类型": "float32",
"维度形状": [
13
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12"
]
}
},
"动作": {
"数据类型": "float32",
"维度形状": [
7
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"时间戳": {
"数据类型": "float32",
"维度形状": [
1
],
"维度名称": null
},
"片段索引": {
"数据类型": "int64",
"维度形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"维度形状": [
1
],
"维度名称": null
},
"下一时刻奖励": {
"数据类型": "float32",
"维度形状": [
1
],
"维度名称": null
},
"下一时刻终止标记": {
"数据类型": "bool",
"维度形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"维度形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"维度形状": [
1
],
"维度名称": null
}
}
}

## 引用

**BibTeX**：
bibtex
@Article{Osa22,
author = {Takayuki Osa},
journal = {The International Journal of Robotics Research},
title = {Motion Planning by Learning the Solution Manifold in Trajectory Optimization},
year = {2022},
number = {3},
pages = {291--311},
volume = {41},
}