mjung11/nc_bi_piper_folding_mj_A
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下载链接：
https://hf-mirror.com/datasets/mjung11/nc_bi_piper_folding_mj_A
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资源简介：
---
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=mjung11/nc_bi_piper_folding_mj_A">
<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": "bi_piper_follower",
"total_episodes": 20,
"total_frames": 93697,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"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": {
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos"
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos"
],
"fps": 30
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
```
## 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=mjung11/nc_bi_piper_folding_mj_A">
<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：** [暂无更多信息]
- **论文：** [暂无更多信息]
- **许可证：** Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"codebase_version": "v3.0", // 代码库版本
"robot_type": "bi_piper_follower", // 机器人类型
"total_episodes": 20, // 总任务回合数
"total_frames": 93697, // 总帧数
"total_tasks": 1, // 总任务数
"chunks_size": 1000, // 数据分块大小
"fps": 30, // 帧率（FPS）
"splits": {
"train": "0:20" // 训练集划分：包含第0至第19个回合（左闭右开区间）
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", // 数据文件路径格式
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", // 视频文件路径格式
"features": {
"action": { // 动作数据
"dtype": "float32", // 数据类型：32位浮点型
"shape": [14], // 数据维度：14维
"names": [ // 各维度对应名称
"左关节1位置",
"左关节2位置",
"左关节3位置",
"左关节4位置",
"左关节5位置",
"左关节6位置",
"左夹爪位置",
"右关节1位置",
"右关节2位置",
"右关节3位置",
"右关节4位置",
"右关节5位置",
"右关节6位置",
"右夹爪位置"
],
"fps": 30 // 采样帧率：30FPS
},
"observation.state": { // 观测状态数据
"dtype": "float32",
"shape": [14],
"names": [
"左关节1位置",
"左关节2位置",
"左关节3位置",
"左关节4位置",
"左关节5位置",
"左关节6位置",
"左夹爪位置",
"右关节1位置",
"右关节2位置",
"右关节3位置",
"右关节4位置",
"右关节5位置",
"右关节6位置",
"右夹爪位置"
],
"fps": 30
},
"observation.images.top": { // 顶视角观测图像
"dtype": "video", // 数据类型：视频序列
"shape": [480, 640, 3], // 维度：高度480、宽度640、RGB三通道
"names": ["高度", "宽度", "通道数"],
"info": {
"video.height": 480, // 视频高度
"video.width": 640, // 视频宽度
"video.codec": "av1", // 视频编码格式：AV1
"video.pix_fmt": "yuv420p", // 像素格式：YUV420P
"video.is_depth_map": false, // 非深度图
"video.fps": 30, // 视频帧率：30FPS
"video.channels": 3, // 通道数：3（RGB）
"has_audio": false // 无音频轨道
}
},
"observation.images.left_hand": { // 左手视角观测图像
"dtype": "video",
"shape": [480, 640, 3],
"names": ["高度", "宽度", "通道数"],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_hand": { // 右手视角观测图像
"dtype": "video",
"shape": [480, 640, 3],
"names": ["高度", "宽度", "通道数"],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": { // 时间戳数据
"dtype": "float32",
"shape": [1],
"names": null,
"fps": 30
},
"frame_index": { // 帧索引
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"episode_index": { // 任务回合索引
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"index": { // 全局数据索引
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"task_index": { // 任务索引
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
}
},
"data_files_size_in_mb": 100, // 数据文件总大小：100MB
"video_files_size_in_mb": 200 // 视频文件总大小：200MB
}
## 引用
**BibTeX格式：**
bibtex
[暂无更多信息]
提供机构：
mjung11
