LejuRobotics/kuavo4pro_pick_toys

---
license: apache-2.0
task_categories:
- robotics
tags:
- Lejurobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** [https://www.lejurobot.com/](https://www.lejurobot.com/)
<!-- - **Paper:** [More Information Needed] -->
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):

```
{
"codebase_version": "v2.0",
"robot_type": "kuavo4pro",
"total_episodes": 73,
"total_frames": 35993,
"total_tasks": 1,
"total_videos": 219,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:73"
},
"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.state": {
"dtype": "float32",
"shape": [
40
],
"names": {
"motors": [
"l_leg_roll",
"l_leg_yaw",
"l_leg_pitch",
"l_knee",
"l_foot_pitch",
"l_foot_roll",
"r_leg_roll",
"r_leg_yaw",
"r_leg_pitch",
"r_knee",
"r_foot_pitch",
"r_foot_roll",
"zarm_l1_link",
"zarm_l2_link",
"zarm_l3_link",
"zarm_l4_link",
"zarm_l5_link",
"zarm_l6_link",
"zarm_l7_link",
"left_qiangnao_1",
"left_qiangnao_2",
"left_qiangnao_3",
"left_qiangnao_4",
"left_qiangnao_5",
"left_qiangnao_6",
"zarm_r1_link",
"zarm_r2_link",
"zarm_r3_link",
"zarm_r4_link",
"zarm_r5_link",
"zarm_r6_link",
"zarm_r7_link",
"right_qiangnao_1",
"right_qiangnao_2",
"right_qiangnao_3",
"right_qiangnao_4",
"right_qiangnao_5",
"right_qiangnao_6",
"head_yaw",
"head_pitch"
]
}
},
"action": {
"dtype": "float32",
"shape": [
40
],
"names": {
"motors": [
"l_leg_roll",
"l_leg_yaw",
"l_leg_pitch",
"l_knee",
"l_foot_pitch",
"l_foot_roll",
"r_leg_roll",
"r_leg_yaw",
"r_leg_pitch",
"r_knee",
"r_foot_pitch",
"r_foot_roll",
"zarm_l1_link",
"zarm_l2_link",
"zarm_l3_link",
"zarm_l4_link",
"zarm_l5_link",
"zarm_l6_link",
"zarm_l7_link",
"left_qiangnao_1",
"left_qiangnao_2",
"left_qiangnao_3",
"left_qiangnao_4",
"left_qiangnao_5",
"left_qiangnao_6",
"zarm_r1_link",
"zarm_r2_link",
"zarm_r3_link",
"zarm_r4_link",
"zarm_r5_link",
"zarm_r6_link",
"zarm_r7_link",
"right_qiangnao_1",
"right_qiangnao_2",
"right_qiangnao_3",
"right_qiangnao_4",
"right_qiangnao_5",
"right_qiangnao_6",
"head_yaw",
"head_pitch"
]
}
},
"observation.images.cam_h": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_r": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_l": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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
}
}
}
```

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- Lejurobot
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) 框架构建。

## 数据集说明
- **主页**：[https://www.lejurobot.com/](https://www.lejurobot.com/)
<!-- - **论文**：[待补充更多信息] -->
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):

{
"代码库版本": "v2.0",
"机器人型号": "kuavo4pro",
"总轨迹数": 73,
"总帧数": 35993,
"总任务数": 1,
"总视频数": 219,
"总数据块数": 1,
"单数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:73"
},
"数据文件路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征": {
"观测状态": {
"数据类型": "float32",
"数据形状": [
40
],
"字段名称": {
"电机": [
"l_leg_roll",
"l_leg_yaw",
"l_leg_pitch",
"l_knee",
"l_foot_pitch",
"l_foot_roll",
"r_leg_roll",
"r_leg_yaw",
"r_leg_pitch",
"r_knee",
"r_foot_pitch",
"r_foot_roll",
"zarm_l1_link",
"zarm_l2_link",
"zarm_l3_link",
"zarm_l4_link",
"zarm_l5_link",
"zarm_l6_link",
"zarm_l7_link",
"left_qiangnao_1",
"left_qiangnao_2",
"left_qiangnao_3",
"left_qiangnao_4",
"left_qiangnao_5",
"left_qiangnao_6",
"zarm_r1_link",
"zarm_r2_link",
"zarm_r3_link",
"zarm_r4_link",
"zarm_r5_link",
"zarm_r6_link",
"zarm_r7_link",
"right_qiangnao_1",
"right_qiangnao_2",
"right_qiangnao_3",
"right_qiangnao_4",
"right_qiangnao_5",
"right_qiangnao_6",
"head_yaw",
"head_pitch"
]
}
},
"动作": {
"数据类型": "float32",
"数据形状": [
40
],
"字段名称": {
"电机": [
"l_leg_roll",
"l_leg_yaw",
"l_leg_pitch",
"l_knee",
"l_foot_pitch",
"l_foot_roll",
"r_leg_roll",
"r_leg_yaw",
"r_leg_pitch",
"r_knee",
"r_foot_pitch",
"r_foot_roll",
"zarm_l1_link",
"zarm_l2_link",
"zarm_l3_link",
"zarm_l4_link",
"zarm_l5_link",
"zarm_l6_link",
"zarm_l7_link",
"left_qiangnao_1",
"left_qiangnao_2",
"left_qiangnao_3",
"left_qiangnao_4",
"left_qiangnao_5",
"left_qiangnao_6",
"zarm_r1_link",
"zarm_r2_link",
"zarm_r3_link",
"zarm_r4_link",
"zarm_r5_link",
"zarm_r6_link",
"zarm_r7_link",
"right_qiangnao_1",
"right_qiangnao_2",
"right_qiangnao_3",
"right_qiangnao_4",
"right_qiangnao_5",
"right_qiangnao_6",
"head_yaw",
"head_pitch"
]
}
},
"观测图像.cam_h": {
"数据类型": "video",
"数据形状": [
3,
480,
640
],
"维度名称": [
"通道",
"高度",
"宽度"
],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测图像.cam_r": {
"数据类型": "video",
"数据形状": [
3,
480,
848
],
"维度名称": [
"通道",
"高度",
"宽度"
],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 848,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测图像.cam_l": {
"数据类型": "video",
"数据形状": [
3,
480,
848
],
"维度名称": [
"通道",
"高度",
"宽度"
],
"详细信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 848,
"视频通道数": 3,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"数据形状": [
1
],
"字段名称": null
},
"帧索引": {
"数据类型": "int64",
"数据形状": [
1
],
"字段名称": null
},
"轨迹索引": {
"数据类型": "int64",
"数据形状": [
1
],
"字段名称": null
},
"全局索引": {
"数据类型": "int64",
"数据形状": [
1
],
"字段名称": null
},
"任务索引": {
"数据类型": "int64",
"数据形状": [
1
],
"字段名称": null
}
}
}