continuallearning/libero_40_image_task_0_21

---
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": null,
"total_episodes": 110,
"total_frames": 21323,
"total_tasks": 22,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:110"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.images.image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"gripper"
]
}
},
"observation.state.joint": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"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：data/*/*.parquet

---

本数据集基于LeRobot机器人学习框架（LeRobot）开发构建，项目仓库地址为[https://github.com/huggingface/lerobot](https://github.com/huggingface/lerobot)。

## 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
文件`meta/info.json`的详细内容如下：
json
{
"代码库版本": "v2.1",
"机器人类型": null,
"总轨迹数": 110,
"总帧数": 21323,
"总任务数": 22,
"总视频数": 0,
"总块数": 1,
"块大小": 1000,
"帧率": 20,
"数据划分": {
"训练集": "0:110"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": null,
"特征项": {
"观测.图像.普通图像": {
"数据类型": "图像",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"]
},
"观测.图像.腕部图像": {
"数据类型": "图像",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"]
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"维度命名": {
"电机": ["x轴位移", "y轴位移", "z轴位移", "滚转角", "俯仰角", "偏航角", "夹爪开度", "夹爪开度"]
}
},
"观测.状态.关节": {
"数据类型": "float32",
"形状": [7],
"维度命名": {
"电机": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "关节7"]
}
},
"动作": {
"数据类型": "float32",
"形状": [7],
"维度命名": {
"电机": ["x轴位移", "y轴位移", "z轴位移", "滚转角", "俯仰角", "偏航角", "夹爪开度"]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"样本索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]