1g0rrr/summit_grab_wire_from_table2_crop2
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下载链接：
https://hf-mirror.com/datasets/1g0rrr/summit_grab_wire_from_table2_crop2
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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": "v2.1",
"robot_type": "sam_evt2",
"total_episodes": 51,
"total_frames": 24309,
"total_tasks": 1,
"total_videos": 204,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:51"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_side.pos",
"left_wrist_roll.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_side.pos",
"right_wrist_roll.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_side.pos",
"left_wrist_roll.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_side.pos",
"right_wrist_roll.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "unknown",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "unknown",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "unknown",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "unknown",
"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
}
},
"task_name": "summit_grab_wire_from_table"
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
许可证：Apache-2.0
任务类别（task_categories）：
- 机器人学（robotics）
标签（tags）：
- LeRobot (LeRobot)
配置项（configs）：
- 配置名称（config_name）：默认（default）
数据文件（data_files）：data/*/*.parquet
本数据集由[LeRobot (LeRobot)](https://github.com/huggingface/lerobot)构建。
## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.1",
"机器人类型": "sam_evt2",
"总回合数": 51,
"总帧数": 24309,
"总任务数": 1,
"总视频数": 204,
"总数据块数": 1,
"数据块大小": 1000,
"帧率（fps）": 30,
"数据集划分（splits）": {
"训练集": "0:51"
},
"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",
"数据特征（features）": {
"动作（action）": {
"数据类型（dtype）": "float32",
"形状（shape）": [14],
"名称列表（names）": [
"左肩部旋转关节.pos",
"左肩部抬升关节.pos",
"左肘部弯曲关节.pos",
"左腕部弯曲关节.pos",
"左腕部侧摆关节.pos",
"左腕部旋转关节.pos",
"右肩部旋转关节.pos",
"右肩部抬升关节.pos",
"右肘部弯曲关节.pos",
"右腕部弯曲关节.pos",
"右腕部侧摆关节.pos",
"右腕部旋转关节.pos",
"左夹持器.pos",
"右夹持器.pos"
]
},
"观测.状态（observation.state）": {
"数据类型（dtype）": "float32",
"形状（shape）": [14],
"名称列表（names）": [
"左肩部旋转关节.pos",
"左肩部抬升关节.pos",
"左肘部弯曲关节.pos",
"左腕部弯曲关节.pos",
"左腕部侧摆关节.pos",
"左腕部旋转关节.pos",
"右肩部旋转关节.pos",
"右肩部抬升关节.pos",
"右肘部弯曲关节.pos",
"右腕部弯曲关节.pos",
"右腕部侧摆关节.pos",
"右腕部旋转关节.pos",
"左夹持器.pos",
"右夹持器.pos"
]
},
"观测.图像.左腕相机（observation.images.wrist_left）": {
"数据类型（dtype）": "视频",
"形状（shape）": [480, 640, 3],
"名称列表（names）": ["高度", "宽度", "通道数"],
"详细信息（info）": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式（video.codec）": "av1",
"视频.像素格式（video.pix_fmt）": "unknown",
"视频.非深度图（video.is_depth_map）": false,
"视频.帧率（video.fps）": 30,
"视频.通道数（video.channels）": 3,
"含音频（has_audio）": false
}
},
"观测.图像.右腕相机（observation.images.wrist_right）": {
"数据类型（dtype）": "视频",
"形状（shape）": [480, 640, 3],
"名称列表（names）": ["高度", "宽度", "通道数"],
"详细信息（info）": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式（video.codec）": "av1",
"视频.像素格式（video.pix_fmt）": "unknown",
"视频.非深度图（video.is_depth_map）": false,
"视频.帧率（video.fps）": 30,
"视频.通道数（video.channels）": 3,
"含音频（has_audio）": false
}
},
"观测.图像.前置相机（observation.images.front）": {
"数据类型（dtype）": "视频",
"形状（shape）": [480, 640, 3],
"名称列表（names）": ["高度", "宽度", "通道数"],
"详细信息（info）": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式（video.codec）": "av1",
"视频.像素格式（video.pix_fmt）": "unknown",
"视频.非深度图（video.is_depth_map）": false,
"视频.帧率（video.fps）": 30,
"视频.通道数（video.channels）": 3,
"含音频（has_audio）": false
}
},
"观测.图像.侧置相机（observation.images.side）": {
"数据类型（dtype）": "视频",
"形状（shape）": [480, 640, 3],
"名称列表（names）": ["高度", "宽度", "通道数"],
"详细信息（info）": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式（video.codec）": "av1",
"视频.像素格式（video.pix_fmt）": "unknown",
"视频.非深度图（video.is_depth_map）": false,
"视频.帧率（video.fps）": 30,
"视频.通道数（video.channels）": 3,
"含音频（has_audio）": false
}
},
"时间戳（timestamp）": {
"数据类型（dtype）": "float32",
"形状（shape）": [1],
"名称列表（names）": null
},
"帧索引（frame_index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [1],
"名称列表（names）": null
},
"回合索引（episode_index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [1],
"名称列表（names）": null
},
"全局索引（index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [1],
"名称列表（names）": null
},
"任务索引（task_index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [1],
"名称列表（names）": null
}
},
"任务名称（task_name）": "从桌面抓取导线（summit_grab_wire_from_table）"
}
## 引用
**BibTeX格式引用**：
bibtex
[需补充更多信息]
提供机构：
1g0rrr
