ankile/threading-d1-dagger-sobol-v1-r6

---
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": "panda",
"total_episodes": 51,
"total_frames": 22190,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:51"
},
"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": [
9
],
"names": [
"eef_pos_x",
"eef_pos_y",
"eef_pos_z",
"eef_quat_x",
"eef_quat_y",
"eef_quat_z",
"eef_quat_w",
"gripper_qpos_left",
"gripper_qpos_right"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
28
],
"names": [
"needle_pos_x",
"needle_pos_y",
"needle_pos_z",
"needle_quat_x",
"needle_quat_y",
"needle_quat_z",
"needle_quat_w",
"needle_to_eef_pos_x",
"needle_to_eef_pos_y",
"needle_to_eef_pos_z",
"needle_to_eef_quat_x",
"needle_to_eef_quat_y",
"needle_to_eef_quat_z",
"needle_to_eef_quat_w",
"tripod_pos_x",
"tripod_pos_y",
"tripod_pos_z",
"tripod_quat_x",
"tripod_quat_y",
"tripod_quat_z",
"tripod_quat_w",
"tripod_to_eef_pos_x",
"tripod_to_eef_pos_y",
"tripod_to_eef_pos_z",
"tripod_to_eef_quat_x",
"tripod_to_eef_quat_y",
"tripod_to_eef_quat_z",
"tripod_to_eef_quat_w"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"delta_eef_pos_x",
"delta_eef_pos_y",
"delta_eef_pos_z",
"delta_eef_rot_x",
"delta_eef_rot_y",
"delta_eef_rot_z",
"gripper_action"
]
},
"source": {
"dtype": "int64",
"shape": [
1
],
"names": [
"source_id"
]
},
"success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success_flag"
]
},
"intervention": {
"dtype": "int64",
"shape": [
1
],
"names": [
"intervention_flag"
]
},
"is_valid": {
"dtype": "int64",
"shape": [
1
],
"names": [
"is_valid_flag"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "int64",
"shape": [
1
],
"names": [
"done_flag"
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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
配置项:
- 配置名称: default
数据文件路径: data/*/*.parquet
---

本数据集由[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)开发构建。

## 数据集说明

- **项目主页**: [待补充更多信息]
- **相关论文**: [待补充更多信息]
- **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": "Panda（panda）",
"总回合数": 51,
"总帧数": 22190,
"总任务数": 1,
"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": 20,
"数据集划分": {
"训练集": "0:51"
},
"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": [9],
"字段名称": ["末端执行器x轴位置", "末端执行器y轴位置", "末端执行器z轴位置", "末端执行器四元数x分量", "末端执行器四元数y分量", "末端执行器四元数z分量", "末端执行器四元数w分量", "左侧夹爪关节位置", "右侧夹爪关节位置"]
},
"观测.环境状态": {
"数据类型": "float32",
"形状": [28],
"字段名称": ["针状物x轴位置", "针状物y轴位置", "针状物z轴位置", "针状物四元数x分量", "针状物四元数y分量", "针状物四元数z分量", "针状物四元数w分量", "针状物与末端执行器x轴相对位置", "针状物与末端执行器y轴相对位置", "针状物与末端执行器z轴相对位置", "针状物与末端执行器四元数x分量相对值", "针状物与末端执行器四元数y分量相对值", "针状物与末端执行器四元数z分量相对值", "针状物与末端执行器四元数w分量相对值", "三脚架x轴位置", "三脚架y轴位置", "三脚架z轴位置", "三脚架四元数x分量", "三脚架四元数y分量", "三脚架四元数z分量", "三脚架四元数w分量", "三脚架与末端执行器x轴相对位置", "三脚架与末端执行器y轴相对位置", "三脚架与末端执行器z轴相对位置", "三脚架与末端执行器四元数x分量相对值", "三脚架与末端执行器四元数y分量相对值", "三脚架与末端执行器四元数z分量相对值", "三脚架与末端执行器四元数w分量相对值"]
},
"动作": {
"数据类型": "float32",
"形状": [7],
"字段名称": ["末端执行器x轴位移增量", "末端执行器y轴位移增量", "末端执行器z轴位移增量", "末端执行器x轴旋转增量", "末端执行器y轴旋转增量", "末端执行器z轴旋转增量", "夹爪动作指令"]
},
"来源": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["source_id"]
},
"成功标记": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["success_flag"]
},
"干预标记": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["intervention_flag"]
},
"有效标记": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["is_valid_flag"]
},
"奖励": {
"数据类型": "float32",
"形状": [1],
"字段名称": ["reward"]
},
"回合结束标记": {
"数据类型": "int64",
"形状": [1],
"字段名称": ["done_flag"]
},
"观测.图像.智能体视角": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度说明": ["height", "width", "channels"],
"视频信息": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"观测.图像.眼在手视角": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度说明": ["height", "width", "channels"],
"视频信息": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}

## 引用

**BibTeX:**
bibtex
[待补充更多信息]