berkeley_fanuc_manipulation

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** https://sites.google.com/berkeley.edu/fanuc-manipulation
- **Paper:** [More Information Needed]
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 415,
"total_frames": 62613,
"total_tasks": 32,
"total_videos": 830,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:415"
},
"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": {
"observation.images.image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 10.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```

## Citation

**BibTeX:**

```bibtex
@article{fanuc_manipulation2023,
title={Fanuc Manipulation: A Dataset for Learning-based Manipulation with FANUC Mate 200iD Robot},
author={Zhu, Xinghao and Tian, Ran and Xu, Chenfeng and Ding, Mingyu and Zhan, Wei and Tomizuka, Masayoshi},
year={2023},
}
```

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

## 数据集说明
- **主页**：https://sites.google.com/berkeley.edu/fanuc-manipulation
- **论文**：[需补充更多信息]
- **许可证**：MIT许可证

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总回合数": 415,
"总帧数": 62613,
"总任务数": 32,
"总视频数": 830,
"总分片数": 1,
"分片大小": 1000,
"帧率(fps)": 10,
"数据拆分": {
"训练集": "0:415"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测图像.主相机": {
"数据类型": "视频",
"形状": [224, 224, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 10.0,
"视频编码格式": "AV1编码格式（av1）",
"视频像素格式": "YUV420P像素格式（yuv420p）",
"是否为深度图": false,
"是否含音频": false
}
},
"观测图像.腕部相机": {
"数据类型": "视频",
"形状": [224, 224, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 10.0,
"视频编码格式": "AV1编码格式（av1）",
"视频像素格式": "YUV420P像素格式（yuv420p）",
"是否为深度图": false,
"是否含音频": false
}
},
"语言指令": {
"数据类型": "字符串",
"形状": [1],
"维度名称": null
},
"观测状态": {
"数据类型": "32位浮点型（float32）",
"形状": [8],
"维度名称": {
"电机轴": ["电机0", "电机1", "电机2", "电机3", "电机4", "电机5", "电机6", "电机7"]
}
},
"动作指令": {
"数据类型": "32位浮点型（float32）",
"形状": [7],
"维度名称": {
"电机轴": ["电机0", "电机1", "电机2", "电机3", "电机4", "电机5", "电机6"]
}
},
"时间戳": {
"数据类型": "32位浮点型（float32）",
"形状": [1],
"维度名称": null
},
"回合索引": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"后续奖励": {
"数据类型": "32位浮点型（float32）",
"形状": [1],
"维度名称": null
},
"后续终止标志": {
"数据类型": "布尔型（bool）",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "64位整型（int64）",
"形状": [1],
"维度名称": null
}
}
}

## 引用
**BibTeX格式：**
bibtex
@article{fanuc_manipulation2023,
title={Fanuc机械操作数据集：基于FANUC Mate 200iD机器人的学习型操作数据集},
author={朱星浩、田然、徐辰峰、丁明宇、詹伟、富泽雅义（Tomizuka, Masayoshi)},
year={2023},
}