monozu-deving/Xlerobot-grap-post-index4-fillwith2
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下载链接：
https://hf-mirror.com/datasets/monozu-deving/Xlerobot-grap-post-index4-fillwith2
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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).
## 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": "xlerobot_follower",
"total_episodes": 40,
"total_frames": 12876,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:40"
},
"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",
"names": [
"1_left/01_sh_pan.pos",
"1_left/02_sh_lift.pos",
"1_left/03_elbow.pos",
"1_left/04_wr_flex.pos",
"1_left/05_wr_roll.pos",
"1_left/06_grip.pos",
"2_right/01_sh_pan.pos",
"2_right/02_sh_lift.pos",
"2_right/03_elbow.pos",
"2_right/04_wr_flex.pos",
"2_right/05_wr_roll.pos",
"2_right/06_grip.pos",
"3_head/01_yaw.pos",
"3_head/02_pitch.pos",
"4_base/x.vel",
"4_base/y.vel",
"4_base/theta.vel"
],
"shape": [
17
]
},
"observation.state": {
"dtype": "float32",
"names": [
"1_left/01_sh_pan.pos",
"1_left/02_sh_lift.pos",
"1_left/03_elbow.pos",
"1_left/04_wr_flex.pos",
"1_left/05_wr_roll.pos",
"1_left/06_grip.pos",
"2_right/01_sh_pan.pos",
"2_right/02_sh_lift.pos",
"2_right/03_elbow.pos",
"2_right/04_wr_flex.pos",
"2_right/05_wr_roll.pos",
"2_right/06_grip.pos",
"3_head/01_yaw.pos",
"3_head/02_pitch.pos",
"4_base/x.vel",
"4_base/y.vel",
"4_base/theta.vel"
],
"shape": [
17
]
},
"observation.images.right_wrist": {
"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.wide": {
"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_wrist": {
"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
},
"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]
```
### 数据集元数据
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：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
- **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`文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "xlerobot_follower",
"总回合数": 40,
"总帧数": 12876,
"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": "0:40"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32",
"维度名称": [
"1_left/01_sh_pan.pos",
"1_left/02_sh_lift.pos",
"1_left/03_elbow.pos",
"1_left/04_wr_flex.pos",
"1_left/05_wr_roll.pos",
"1_left/06_grip.pos",
"2_right/01_sh_pan.pos",
"2_right/02_sh_lift.pos",
"2_right/03_elbow.pos",
"2_right/04_wr_flex.pos",
"2_right/05_wr_roll.pos",
"2_right/06_grip.pos",
"3_head/01_yaw.pos",
"3_head/02_pitch.pos",
"4_base/x.vel",
"4_base/y.vel",
"4_base/theta.vel"
],
"形状": [17]
},
"观测状态": {
"数据类型": "float32",
"维度名称": [
"1_left/01_sh_pan.pos",
"1_left/02_sh_lift.pos",
"1_left/03_elbow.pos",
"1_left/04_wr_flex.pos",
"1_left/05_wr_roll.pos",
"1_left/06_grip.pos",
"2_right/01_sh_pan.pos",
"2_right/02_sh_lift.pos",
"2_right/03_elbow.pos",
"2_right/04_wr_flex.pos",
"2_right/05_wr_roll.pos",
"2_right/06_grip.pos",
"3_head/01_yaw.pos",
"3_head/02_pitch.pos",
"4_base/x.vel",
"4_base/y.vel",
"4_base/theta.vel"
],
"形状": [17]
},
"观测图像.右手腕": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度名称": ["height", "width", "channels"],
"详细信息": {
"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
}
},
"观测图像.广角": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度名称": ["height", "width", "channels"],
"详细信息": {
"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
}
},
"观测图像.左手腕": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度名称": ["height", "width", "channels"],
"详细信息": {
"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
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式：**
bibtex
[更多信息待补充]
提供机构：
monozu-deving
