dusruddl2/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=dusruddl2/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": 4501,
"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（robotics）
标签：
- LeRobot
配置项：
- 配置名称：默认（default）
数据文件：data/*/*.parquet
---

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=dusruddl2/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>

## 数据集描述

- **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

`meta/info.json`：
json
{
"代码库版本": "v3.0",
"机器人类型": null,
"总回合数": 30,
"总帧数": 4501,
"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": {
"观测.状态": {
"数据类型": "float64",
"形状": [
13
],
"命名项": {
"电机": [
"右X轴",
"右Y轴",
"右Z轴",
"右Q1轴",
"右Q2轴",
"右Q3轴",
"右Q4轴",
"右G1轴",
"右G2轴",
"右G3轴",
"右G4轴",
"右G5轴",
"右G6轴"
]
}
},
"观测.图像.前视": {
"数据类型": "video",
"形状": [
84,
84,
3
],
"命名项": [
"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,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.腕部": {
"数据类型": "video",
"形状": [
84,
84,
3
],
"命名项": [
"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,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"完成标识": {
"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
],
"命名项": {
"电机": [
"右X轴",
"右Y轴",
"右Z轴",
"右横滚",
"右俯仰",
"右偏航",
"右夹持器"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"命名项": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
}
}
}

## 引用

**BibTeX格式:**

bibtex
[更多信息待补充]