hamin2065/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=hamin2065/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": 2913,
"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
数据文件路径：data/*/*.parquet

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hamin2065/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
元数据文件`meta/info.json`内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": null,
"总回合数": 30,
"总帧数": 2913,
"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.关节状态": {
"数据类型": "float64",
"形状": [13],
"命名规则": {
"电机关节": [
"右X轴",
"右Y轴",
"右Z轴",
"右姿态角1",
"右姿态角2",
"右姿态角3",
"右姿态角4",
"右夹爪关节1",
"右夹爪关节2",
"右夹爪关节3",
"右夹爪关节4",
"右夹爪关节5",
"右夹爪关节6"
]
}
},
"观测.前视摄像头图像": {
"数据类型": "视频",
"形状": [84, 84, 3],
"维度命名": ["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",
"非深度图": false,
"无音频轨道": false
}
},
"观测.腕部摄像头图像": {
"数据类型": "视频",
"形状": [84, 84, 3],
"维度命名": ["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",
"非深度图": false,
"无音频轨道": false
}
},
"终止标记": {
"数据类型": "bool",
"形状": [1]
},
"奖励值": {
"数据类型": "float64",
"形状": [1]
},
"动作指令": {
"数据类型": "float64",
"形状": [7],
"命名规则": {
"电机关节": [
"右X轴",
"右Y轴",
"右Z轴",
"右滚转角",
"右俯仰角",
"右偏航角",
"右夹爪开度"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"命名规则": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"命名规则": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"命名规则": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"命名规则": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"命名规则": null
}
}
}

## 引用信息
**BibTeX格式引用：**
bibtex
[更多信息待补充]