qualiaadmin/robosuite_square_bc_rnn

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robosuite
- bc-rnn
- nutassemblysquare
configs:
- config_name: default
data_files: data/*/*.parquet
---

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

## 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": "panda",
"total_episodes": 94,
"total_frames": 14530,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:94"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"dx",
"dy",
"dz",
"dax",
"day",
"daz",
"gripper"
]
}
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": {
"motors": [
"panda_joint_1",
"panda_joint_2",
"panda_joint_3",
"panda_joint_4",
"panda_joint_5",
"panda_joint_6",
"panda_joint_7",
"panda_finger_joint_1",
"panda_finger_joint_2"
]
}
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"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（LeRobot）
- robosuite（robosuite）
- bc-rnn
- nutassemblysquare
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)构建。

## 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](meta/info.json)：
json
{
"代码库版本": "v3.0",
"机器人类型": "熊猫（Panda）机械臂",
"总轨迹数": 94,
"总帧数": 14530,
"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": 20,
"数据集划分": {
"训练集": "0:94"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32",
"形状": [7],
"命名": {
"电机轴": ["X轴平移", "Y轴平移", "Z轴平移", "X轴旋转", "Y轴旋转", "Z轴旋转", "夹爪"]
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [9],
"命名": {
"电机轴": ["熊猫（Panda）机械臂关节1", "熊猫（Panda）机械臂关节2", "熊猫（Panda）机械臂关节3", "熊猫（Panda）机械臂关节4", "熊猫（Panda）机械臂关节5", "熊猫（Panda）机械臂关节6", "熊猫（Panda）机械臂关节7", "熊猫（Panda）机械臂夹爪关节1", "熊猫（Panda）机械臂夹爪关节2"]
}
},
"观测.图像.智能视角（AgentView）": {
"数据类型": "视频",
"形状": [480, 640, 3],
"命名": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.腕部视角（Wrist）": {
"数据类型": "视频",
"形状": [480, 640, 3],
"命名": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"命名": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [1],
"命名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"命名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]