z18820636149/hilserl-record10

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- hil-serl
- converted
- robotics
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": "hilserl_robot",
"total_episodes": 20,
"total_frames": 1613,
"total_tasks": 20,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 5,
"splits": {
"train": "0:20"
},
"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.obs_joint_0": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_joint_0"
]
},
"observation.obs_joint_1": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_joint_1"
]
},
"observation.obs_joint_2": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_joint_2"
]
},
"observation.obs_joint_3": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_joint_3"
]
},
"observation.obs_joint_4": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_joint_4"
]
},
"observation.obs_joint_5": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_joint_5"
]
},
"observation.obs_gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"obs_gripper"
]
},
"observation.images.wrist_1": {
"dtype": "video",
"shape": [
128,
128,
3
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 5,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_2": {
"dtype": "video",
"shape": [
128,
128,
3
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 5,
"video.channels": 3,
"has_audio": false
}
},
"action.act_x": {
"dtype": "float32",
"shape": [
1
],
"names": [
"act_x"
]
},
"action.act_y": {
"dtype": "float32",
"shape": [
1
],
"names": [
"act_y"
]
},
"action.act_z": {
"dtype": "float32",
"shape": [
1
],
"names": [
"act_z"
]
},
"action.act_roll": {
"dtype": "float32",
"shape": [
1
],
"names": [
"act_roll"
]
},
"action.act_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": [
"act_pitch"
]
},
"action.act_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": [
"act_yaw"
]
},
"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
- hil-serl
- 转换后
- 机器人学
配置项:
- 配置名称: 默认
数据文件: data/*/*.parquet

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

## 数据集描述
- **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": "hilserl_robot",
"总回合数": 20,
"总帧数": 1613,
"总任务数": 20,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 500,
"帧率": 5,
"数据集划分": {
"训练集": "0:20"
},
"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",
"特征项": {
"观测数据.关节0": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_joint_0"]
},
"观测数据.关节1": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_joint_1"]
},
"观测数据.关节2": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_joint_2"]
},
"观测数据.关节3": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_joint_3"]
},
"观测数据.关节4": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_joint_4"]
},
"观测数据.关节5": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_joint_5"]
},
"观测数据.夹爪": {
"数据类型": "float32",
"形状": [1],
"名称": ["obs_gripper"]
},
"观测数据.图像.腕部相机1": {
"数据类型": "视频",
"形状": [128, 128, 3],
"信息": {
"视频高度": 128,
"视频宽度": 128,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 5,
"视频通道数": 3,
"是否含音频": false
}
},
"观测数据.图像.腕部相机2": {
"数据类型": "视频",
"形状": [128, 128, 3],
"信息": {
"视频高度": 128,
"视频宽度": 128,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 5,
"视频通道数": 3,
"是否含音频": false
}
},
"动作指令.X轴运动": {
"数据类型": "float32",
"形状": [1],
"名称": ["act_x"]
},
"动作指令.Y轴运动": {
"数据类型": "float32",
"形状": [1],
"名称": ["act_y"]
},
"动作指令.Z轴运动": {
"数据类型": "float32",
"形状": [1],
"名称": ["act_z"]
},
"动作指令.滚转角": {
"数据类型": "float32",
"形状": [1],
"名称": ["act_roll"]
},
"动作指令.俯仰角": {
"数据类型": "float32",
"形状": [1],
"名称": ["act_pitch"]
},
"动作指令.偏航角": {
"数据类型": "float32",
"形状": [1],
"名称": ["act_yaw"]
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
}
}
}

## 引用
**BibTeX格式:**
bibtex
[需补充更多信息]