ruanafan/evo-rl-data-pnp-vr-ee-pose-round0-0418-all-rpy

---
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).

## 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": "bi_piper_follower",
"total_episodes": 77,
"total_frames": 71782,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:77"
},
"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": [
14
],
"names": [
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.roll",
"left_ee.pitch",
"left_ee.yaw",
"left_gripper.pos",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.roll",
"right_ee.pitch",
"right_ee.yaw",
"right_gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.roll",
"left_ee.pitch",
"left_ee.yaw",
"left_gripper.pos",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.roll",
"right_ee.pitch",
"right_ee.yaw",
"right_gripper.pos"
]
},
"observation.images.left_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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_front": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"complementary_info.policy_action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.roll",
"left_ee.pitch",
"left_ee.yaw",
"left_gripper.pos",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.roll",
"right_ee.pitch",
"right_ee.yaw",
"right_gripper.pos"
]
},
"complementary_info.is_intervention": {
"dtype": "float32",
"shape": [
1
],
"names": [
"is_intervention"
]
},
"complementary_info.state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"state"
]
},
"complementary_info.collector_policy_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"collector_policy_id"
]
},
"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（robotics）
标签:
- LeRobot
配置:
- 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
- **项目主页：** [待补充更多信息]
- **相关论文：** [待补充更多信息]
- **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": "双Piper跟随型机器人（bi_piper_follower）",
"总回合数": 77,
"总帧数": 71782,
"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": 30,
"数据集划分": {
"训练集": "0:77"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作（action）": {
"数据类型": "float32",
"形状": [14],
"字段名": [
"左末端执行器x坐标（left_ee.x）",
"左末端执行器y坐标（left_ee.y）",
"左末端执行器z坐标（left_ee.z）",
"左末端执行器滚转角（left_ee.roll）",
"左末端执行器俯仰角（left_ee.pitch）",
"左末端执行器偏航角（left_ee.yaw）",
"左夹爪位置（left_gripper.pos）",
"右末端执行器x坐标（right_ee.x）",
"右末端执行器y坐标（right_ee.y）",
"右末端执行器z坐标（right_ee.z）",
"右末端执行器滚转角（right_ee.roll）",
"右末端执行器俯仰角（right_ee.pitch）",
"右末端执行器偏航角（right_ee.yaw）",
"右夹爪位置（right_gripper.pos）"
]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"形状": [14],
"字段名": [
"左末端执行器x坐标（left_ee.x）",
"左末端执行器y坐标（left_ee.y）",
"左末端执行器z坐标（left_ee.z）",
"左末端执行器滚转角（left_ee.roll）",
"左末端执行器俯仰角（left_ee.pitch）",
"左末端执行器偏航角（left_ee.yaw）",
"左夹爪位置（left_gripper.pos）",
"右末端执行器x坐标（right_ee.x）",
"右末端执行器y坐标（right_ee.y）",
"右末端执行器z坐标（right_ee.z）",
"右末端执行器滚转角（right_ee.roll）",
"右末端执行器俯仰角（right_ee.pitch）",
"右末端执行器偏航角（right_ee.yaw）",
"右夹爪位置（right_gripper.pos）"
]
},
"观测图像：左腕相机（observation.images.left_wrist）": {
"数据类型": "video（视频）",
"形状": [480, 640, 3],
"维度含义": ["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": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像：右腕相机（observation.images.right_wrist）": {
"数据类型": "video（视频）",
"形状": [480, 640, 3],
"维度含义": ["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": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像：右前相机（observation.images.right_front）": {
"数据类型": "video（视频）",
"形状": [480, 640, 3],
"维度含义": ["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": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"补充信息：策略动作（complementary_info.policy_action）": {
"数据类型": "float32",
"形状": [14],
"字段名": [
"左末端执行器x坐标（left_ee.x）",
"左末端执行器y坐标（left_ee.y）",
"左末端执行器z坐标（left_ee.z）",
"左末端执行器滚转角（left_ee.roll）",
"左末端执行器俯仰角（left_ee.pitch）",
"左末端执行器偏航角（left_ee.yaw）",
"左夹爪位置（left_gripper.pos）",
"右末端执行器x坐标（right_ee.x）",
"右末端执行器y坐标（right_ee.y）",
"右末端执行器z坐标（right_ee.z）",
"右末端执行器滚转角（right_ee.roll）",
"右末端执行器俯仰角（right_ee.pitch）",
"右末端执行器偏航角（right_ee.yaw）",
"右夹爪位置（right_gripper.pos）"
]
},
"补充信息：干预标记（complementary_info.is_intervention）": {
"数据类型": "float32",
"形状": [1],
"字段名": ["是否干预（is_intervention）"]
},
"补充信息：状态（complementary_info.state）": {
"数据类型": "float32",
"形状": [1],
"字段名": ["状态（state）"]
},
"补充信息：采集策略ID（complementary_info.collector_policy_id）": {
"数据类型": "string",
"形状": [1],
"字段名": ["采集策略ID（collector_policy_id）"]
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"字段名": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"字段名": null
}
}
}

## 引用
**BibTeX格式：** [待补充更多信息]