gaozj/logu_transfer_tissue_bim_joint

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- teleop
- bimanual
- joint-space
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": 14,
"total_frames": 8012,
"total_tasks": 1,
"total_videos": 42,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:14"
},
"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": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.left_wrist_image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.right_wrist_image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.image_video": {
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"shape": [
224,
224,
3
],
"info": {
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"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist_image_video": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist_image_video": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_joint_7",
"left_gripper",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_joint_7",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_djoint_1",
"left_djoint_2",
"left_djoint_3",
"left_djoint_4",
"left_djoint_5",
"left_djoint_6",
"left_djoint_7",
"left_gripper",
"right_djoint_1",
"right_djoint_2",
"right_djoint_3",
"right_djoint_4",
"right_djoint_5",
"right_djoint_6",
"right_djoint_7",
"right_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]
```

license: apache-2.0
任务类别：
- 机器人学（robotics）
标签：
- LeRobot
- 遥操作（teleop）
- 双臂（bimanual）
- 关节空间（joint-space）
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)开发构建。

## 数据集说明
- **主页**：[待补充更多信息]
- **论文**：[待补充更多信息]
- **许可协议**：Apache-2.0

## 数据集结构
`meta/info.json`：
json
{
"代码库版本": "v2.1",
"机器人类型": null,
"总回合数": 14,
"总帧数": 8012,
"总任务数": 1,
"总视频数": 42,
"总分片数": 1,
"分片大小": 1000,
"帧率": 20,
"数据划分": {
"训练集": "0:14"
},
"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.主相机图像": {
"数据类型": "图像",
"形状": [
224,
224,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测.图像.左腕相机图像": {
"数据类型": "图像",
"形状": [
224,
224,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测.图像.右腕相机图像": {
"数据类型": "图像",
"形状": [
224,
224,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测.图像.主相机视频": {
"数据类型": "视频",
"形状": [
224,
224,
3
],
"详细信息": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 20,
"视频.通道数": 3,
"是否包含音频": false
}
},
"观测.图像.左腕相机视频": {
"数据类型": "视频",
"形状": [
224,
224,
3
],
"详细信息": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 20,
"视频.通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右腕相机视频": {
"数据类型": "视频",
"形状": [
224,
224,
3
],
"详细信息": {
"视频.高度": 224,
"视频.宽度": 224,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 20,
"视频.通道数": 3,
"是否包含音频": false
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"左关节1",
"左关节2",
"左关节3",
"左关节4",
"左关节5",
"左关节6",
"左关节7",
"左夹爪",
"右关节1",
"右关节2",
"右关节3",
"右关节4",
"右关节5",
"右关节6",
"右关节7",
"右夹爪"
]
},
"动作": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"左关节1位移量",
"左关节2位移量",
"左关节3位移量",
"左关节4位移量",
"左关节5位移量",
"左关节6位移量",
"左关节7位移量",
"左夹爪",
"右关节1位移量",
"右关节2位移量",
"右关节3位移量",
"右关节4位移量",
"右关节5位移量",
"右关节6位移量",
"右关节7位移量",
"右夹爪"
]
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}

## 引用
**BibTeX 格式引用：**
bibtex
[待补充更多信息]