TreeePlanter/polaris_droid_cotrain

---
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": null,
"total_episodes": 316,
"total_frames": 52914,
"total_tasks": 17,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:316"
},
"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": "float32",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper_position"
]
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper_position"
]
},
"observation.images.exterior_1_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 180,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.exterior_2_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 180,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 180,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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)
配置项:
- 配置名称: default
数据文件: data/*/*.parquet

本数据集基于[LeRobot(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`内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": null,
"总回合数": 316,
"总帧数": 52914,
"总任务数": 17,
"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": 15,
"数据集拆分": {
"训练集": "0:316"
},
"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": {
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"字段名": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪位置"]
},
"动作": {
"数据类型": "float32",
"形状": [8],
"字段名": ["关节0", "关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪位置"]
},
"观测.图像.外部左1": {
"数据类型": "video",
"形状": [180, 320, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 180,
"视频宽度": 320,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.外部左2": {
"数据类型": "video",
"形状": [180, 320, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 180,
"视频宽度": 320,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.左手腕": {
"数据类型": "video",
"形状": [180, 320, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 180,
"视频宽度": 320,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]