sriramsk/move_red_mug_droid_20260421

---
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": "v2.1",
"robot_type": "droid",
"total_episodes": 20,
"total_frames": 5352,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"observation.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"action.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"observation.images.cam_azure_kinect_left.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"observation.images.cam_azure_kinect_front.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "RGB color image"
},
"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：data/*/*.parquet

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

## 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
文件`meta/info.json`的内容如下：
json
{
"代码库版本": "v2.1",
"机器人类型": "droid",
"总回合数": 20,
"总帧数": 5352,
"总任务数": 1,
"总视频数": 60,
"总分块数": 1,
"分块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:20"
},
"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": {
"动作": {
"数据类型": "float32",
"形状": [8],
"维度名称": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "关节7", "夹爪"]
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"维度名称": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "关节7", "夹爪"]
},
"观测.右侧末端执行器位姿": {
"数据类型": "float32",
"形状": [10],
"维度名称": ["六维旋转分量0", "六维旋转分量1", "六维旋转分量2", "六维旋转分量3", "六维旋转分量4", "六维旋转分量5", "平移分量0", "平移分量1", "平移分量2", "夹爪关节开度"]
},
"动作.右侧末端执行器位姿": {
"数据类型": "float32",
"形状": [10],
"维度名称": ["六维旋转分量0", "六维旋转分量1", "六维旋转分量2", "六维旋转分量3", "六维旋转分量4", "六维旋转分量5", "平移分量0", "平移分量1", "平移分量2", "夹爪关节开度"]
},
"观测.图像.Azure Kinect左摄像头.彩色图像": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "原始彩色图像"
},
"观测.图像.Azure Kinect前摄像头.彩色图像": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "原始彩色图像"
},
"观测.图像.腕部摄像头": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "RGB彩色图像"
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"样本索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]