Mimic-Robotics/mimic_ttt_redx_15hz_x2

---
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": "mimic_follower",
"total_episodes": 338,
"total_frames": 182120,
"total_tasks": 9,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:338"
},
"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": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos",
"base_vx",
"base_vy",
"base_omega"
],
"shape": [
15
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos",
"base_x",
"base_y",
"base_theta"
],
"shape": [
15
]
},
"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.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
}
},
"observation.images.front": {
"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.top": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"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]
```

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置：
- 配置名称：默认
数据文件：data/*/*.parquet

本数据集由LeRobot（LeRobot）工具链构建，相关项目仓库地址为https://github.com/huggingface/lerobot。

## 数据集描述

- **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

元数据文件为`meta/info.json`，其内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "mimic_follower",
"总回合数": 338,
"总帧数": 182120,
"总任务数": 9,
"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": 15,
"数据集划分": {
"训练集": "0:338"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作（action）": {
"数据类型": "float32（32位浮点型）",
"维度名称": [
"左肩pan关节位置",
"左肩抬升关节位置",
"左肘弯曲关节位置",
"左腕弯曲关节位置",
"左腕旋转关节位置",
"左夹爪位置",
"右肩pan关节位置",
"右肩抬升关节位置",
"右肘弯曲关节位置",
"右腕弯曲关节位置",
"右腕旋转关节位置",
"右夹爪位置",
"基座x方向线速度",
"基座y方向线速度",
"基座角速度"
],
"形状": [15]
},
"观测状态（observation.state）": {
"数据类型": "float32（32位浮点型）",
"维度名称": [
"左肩pan关节位置",
"左肩抬升关节位置",
"左肘弯曲关节位置",
"左腕弯曲关节位置",
"左腕旋转关节位置",
"左夹爪位置",
"右肩pan关节位置",
"右肩抬升关节位置",
"右肘弯曲关节位置",
"右腕弯曲关节位置",
"右腕旋转关节位置",
"右夹爪位置",
"基座x坐标",
"基座y坐标",
"基座航向角"
],
"形状": [15]
},
"右腕摄像头观测图像（observation.images.right_wrist）": {
"数据类型": "video（视频格式）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"左腕摄像头观测图像（observation.images.left_wrist）": {
"数据类型": "video（视频格式）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"前方摄像头观测图像（observation.images.front）": {
"数据类型": "video（视频格式）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"顶部摄像头观测图像（observation.images.top）": {
"数据类型": "video（视频格式）",
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32（32位浮点型）",
"形状": [1],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
}
}
}

## 引用

**BibTeX引用：**
bibtex
[更多信息待补充]