ykorkmaz/trial_426_8

该数据集未提供直接描述，但通过分析Dataset Structure部分和meta/info.json中的元数据，可以推断这是一个使用LeRobot创建的机器人数据集。包含来自Trossen AI固定式机器人的数据，包括关节动作和观测值、来自多个摄像头（高、低、左腕、右腕）的视频帧以及深度信息。数据集包含1个episode共156帧、6个视频，以parquet文件格式组织。数据特征包括动作指令（14个关节位置）、观测状态（14个关节位置）和各种摄像头观测（RGB和深度）。

license: Apache-2.0 协议
task_categories:
- 机器人学
tags:
- LeRobot (LeRobot)
- 教程
configs:
- config_name: default
data_files: data/*/*.parquet
---

本数据集基于[LeRobot (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]
- **许可协议:** Apache-2.0

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_stationary",
"total_episodes": 1,
"total_frames": 156,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": [14],
"names": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"observation.state": {
"dtype": "float32",
"shape": [14],
"names": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channels"],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_high_depth": {
"dtype": "video",
"shape": [480, 640, 1],
"names": ["height", "width", "depth"],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channels"],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_low_depth": {
"dtype": "video",
"shape": [480, 640, 1],
"names": ["height", "width", "depth"],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channels"],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channels"],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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
}
}
}

## 引用

**BibTeX格式:**

bibtex
[需补充更多信息]