yapyapho/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=yapyapho/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": 3376,
"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
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)构建。

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

## 数据集说明
- **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](meta/info.json):
json
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 30,
"total_frames": 3376,
"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": {
"观测状态（observation.state）": {
"dtype": "float64",
"shape": [13],
"命名项": {
"电机": [
"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"
]
}
},
"前视图像（observation.images.front）": {
"dtype": "video",
"shape": [84, 84, 3],
"维度": ["宽度", "高度", "通道数"],
"详情": {
"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
}
},
"腕部相机图像（observation.images.wrist）": {
"dtype": "video",
"shape": [84, 84, 3],
"维度": ["宽度", "高度", "通道数"],
"详情": {
"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
}
},
"完成标记（done）": {
"dtype": "bool",
"shape": [1]
},
"奖励值（reward）": {
"dtype": "float64",
"shape": [1]
},
"动作指令（action）": {
"dtype": "float64",
"shape": [7],
"命名项": {
"电机": [
"right_x",
"right_y",
"right_z",
"right_r",
"right_p",
"right_y",
"right_gripper"
]
}
},
"时间戳（timestamp）": {
"dtype": "float32",
"shape": [1],
"命名项": null
},
"帧索引（frame_index）": {
"dtype": "int64",
"shape": [1],
"命名项": null
},
"回合索引（episode_index）": {
"dtype": "int64",
"shape": [1],
"命名项": null
},
"全局索引（index）": {
"dtype": "int64",
"shape": [1],
"命名项": null
},
"任务索引（task_index）": {
"dtype": "int64",
"shape": [1],
"命名项": null
}
}
}

## 引用
**BibTeX格式:**
bibtex
[更多信息待补充]