alexanta/realman_left_arm_demo_1

---
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": 10,
"total_frames": 1294,
"total_tasks": 1,
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"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:10"
},
"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": {
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"names": {
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},
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],
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},
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"names": [
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]
},
"complementary_info.grasp_penalty": {
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"shape": [
1
],
"names": [
"grasp_penalty"
]
},
"observation.images.front": {
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"shape": [
3,
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],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
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],
"names": [
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"info": {
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"video.pix_fmt": "yuv420p",
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"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
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"names": null
},
"timestamp": {
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"index": {
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}
}
}
```

## 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](https://github.com/huggingface/lerobot)构建。

## 数据集说明
- **项目主页：** [需补充更多信息]
- **相关论文：** [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": "v3.0",
"机器人类型": null,
"总回合数": 10,
"总帧数": 1294,
"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）": 200,
"帧率": 10,
"数据集划分": {
"训练集": "0:10"
},
"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",
"形状": [
4
],
"字段映射": {
"x方向位移增量": 0,
"y方向位移增量": 1,
"z方向位移增量": 2,
"夹爪开度": 3
}
},
"下一时刻奖励": {
"数据类型": "float32",
"形状": [
1
],
"字段含义": null
},
"下一时刻终止标志": {
"数据类型": "bool",
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1
],
"字段含义": null
},
"补充信息.离散惩罚项": {
"数据类型": "float32",
"形状": [
1
],
"字段名称": [
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]
},
"补充信息.抓取惩罚项": {
"数据类型": "float32",
"形状": [
1
],
"字段名称": [
"grasp_penalty"
]
},
"观测数据.前置摄像头图像": {
"数据类型": "video",
"形状": [
3,
128,
128
],
"维度含义": [
"通道数",
"图像高度",
"图像宽度"
],
"详细信息": {
"视频高度": 128,
"视频宽度": 128,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 10,
"通道数": 3,
"是否包含音频": false
}
},
"观测数据.腕部摄像头图像": {
"数据类型": "video",
"形状": [
3,
128,
128
],
"维度含义": [
"通道数",
"图像高度",
"图像宽度"
],
"详细信息": {
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"视频宽度": 128,
"视频编码格式": "av1",
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"是否为深度图": false,
"视频帧率": 10,
"通道数": 3,
"是否包含音频": false
}
},
"观测数据.机器人状态": {
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"形状": [
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],
"字段含义": null
},
"时间戳": {
"数据类型": "float32",
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],
"字段含义": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
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],
"字段含义": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"字段含义": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"字段含义": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
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],
"字段含义": null
}
}
}

## 引用说明
**BibTeX格式引用：**
bibtex
[需补充更多信息]