exaFLOPs09/Isaac-Kitchen-v1103-00

---
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": null,
"total_episodes": 300,
"total_frames": 214600,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:300"
},
"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": {
"kitchen_num": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"kitchen_sub_num": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"kitchen_type": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"initial_pose": {
"dtype": "float32",
"shape": [
6
],
"names": {
"pose": [
"x",
"y",
"qw",
"qx",
"qy",
"qz"
]
}
},
"is_first": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"is_last": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"subtask_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
23
],
"names": {
"state": [
"l_x",
"l_y",
"l_z",
"l_r1",
"l_r2",
"l_r3",
"l_r4",
"l_r5",
"l_r6",
"r_x",
"r_y",
"r_z",
"r_r1",
"r_r2",
"r_r3",
"r_r4",
"r_r5",
"r_r6",
"l_gripper",
"r_gripper",
"v_x",
"v_y",
"omega"
]
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.height": 224,
"video.width": 224,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.height": 224,
"video.width": 224,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.height": 224,
"video.width": 224,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": {
"action": [
"l_x",
"l_y",
"l_z",
"l_r1",
"l_r2",
"l_r3",
"l_r4",
"l_r5",
"l_r6",
"r_x",
"r_y",
"r_z",
"r_r1",
"r_r2",
"r_r3",
"r_r4",
"r_r5",
"r_r6",
"l_gripper",
"r_gripper",
"v_x",
"v_y",
"omega"
]
}
},
"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(LeRobot)
配置项：
- 配置名称：默认配置
数据文件：data/*/*.parquet
---

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

## 数据集描述
- **主页**：[待补充更多信息]
- **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) 文件包含如下元信息：
json
{
"代码库版本": "v3.0",
"机器人类型": null,
"总回合数": 300,
"总帧数": 214600,
"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）": 500,
"帧率": 30,
"数据集划分": {
"训练集": "0:300"
},
"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": {
"kitchen_num": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"kitchen_sub_num": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"kitchen_type": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"initial_pose": {
"数据类型": "float32",
"形状": [6],
"字段名": {
"位姿": ["x", "y", "qw", "qx", "qy", "qz"]
}
},
"is_first": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"is_last": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"subtask_index": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"observation.state": {
"数据类型": "float32",
"形状": [23],
"字段名": {
"状态": ["l_x", "l_y", "l_z", "l_r1", "l_r2", "l_r3", "l_r4", "l_r5", "l_r6", "r_x", "r_y", "r_z", "r_r1", "r_r2", "r_r3", "r_r4", "r_r5", "r_r6", "l_gripper", "r_gripper", "v_x", "v_y", "omega"]
}
},
"observation.images.front": {
"数据类型": "视频",
"形状": [224, 224, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频帧率": 30,
"视频高度": 224,
"视频宽度": 224,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"observation.images.wrist_left": {
"数据类型": "视频",
"形状": [224, 224, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频帧率": 30,
"视频高度": 224,
"视频宽度": 224,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"observation.images.wrist_right": {
"数据类型": "视频",
"形状": [224, 224, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频帧率": 30,
"视频高度": 224,
"视频宽度": 224,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"action": {
"数据类型": "float32",
"形状": [23],
"字段名": {
"动作": ["l_x", "l_y", "l_z", "l_r1", "l_r2", "l_r3", "l_r4", "l_r5", "l_r6", "r_x", "r_y", "r_z", "r_r1", "r_r2", "r_r3", "r_r4", "r_r5", "r_r6", "l_gripper", "r_gripper", "v_x", "v_y", "omega"]
}
},
"timestamp": {
"数据类型": "float32",
"形状": [1],
"字段名": null
},
"frame_index": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"episode_index": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"index": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"task_index": {
"数据类型": "int64",
"形状": [1],
"字段名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[待补充更多信息]