kimz1121/robocasa_spatial_camrandom_float16_pretrain_atomic_CloseFridge

---
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).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_camrandom_float16_pretrain_atomic_CloseFridge">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## 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": "PandaOmron",
"total_episodes": 106,
"total_frames": 26888,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:106"
},
"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",
"shape": [
12
],
"names": [
"base_x",
"base_y",
"base_rot",
"base_torso",
"control_mode",
"ee_x",
"ee_y",
"ee_z",
"ee_rx",
"ee_ry",
"ee_rz",
"gripper_close"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"base_x",
"base_y",
"base_z",
"base_qx",
"base_qy",
"base_qz",
"base_qw",
"ee_rel_x",
"ee_rel_y",
"ee_rel_z",
"ee_rel_qx",
"ee_rel_qy",
"ee_rel_qz",
"ee_rel_qw",
"gripper_left",
"gripper_right"
]
},
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_agentview_right": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.robot0_agentview_left": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.depth.robot0_agentview_right": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.depth.robot0_eye_in_hand": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.intrinsic.robot0_agentview_left": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.intrinsic.robot0_agentview_right": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.intrinsic.robot0_eye_in_hand": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.extrinsic.robot0_agentview_left": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"observation.extrinsic.robot0_agentview_right": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"observation.extrinsic.robot0_eye_in_hand": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"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：默认（default）
数据文件路径：data/*/*.parquet

本数据集基于LeRobot工具构建。

可<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_camrandom_float16_pretrain_atomic_CloseFridge">查看本数据集可视化效果</a>：
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>

## 数据集描述

- **主页：** [待补充更多信息]
- **论文：** [待补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构

`meta/info.json`：
json
{
"代码库版本": "v3.0",
"机器人类型": "PandaOmron",
"总回合数": 106,
"总帧数": 26888,
"总任务数": 2,
"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": 20,
"数据集划分": {
"训练集": "0:106"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "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": [12],
"维度名称": ["基座X轴坐标", "基座Y轴坐标", "基座旋转", "基座躯干", "控制模式", "末端执行器X轴坐标", "末端执行器Y轴坐标", "末端执行器Z轴坐标", "末端执行器X轴旋转", "末端执行器Y轴旋转", "末端执行器Z轴旋转", "夹爪闭合"]
},
"观测.状态": {
"数据类型": "float32",
"形状": [16],
"维度名称": ["基座X轴坐标", "基座Y轴坐标", "基座Z轴坐标", "基座四元数X分量", "基座四元数Y分量", "基座四元数Z分量", "基座四元数W分量", "末端执行器相对X轴坐标", "末端执行器相对Y轴坐标", "末端执行器相对Z轴坐标", "末端执行器相对四元数X分量", "末端执行器相对四元数Y分量", "末端执行器相对四元数Z分量", "末端执行器相对四元数W分量", "左侧夹爪", "右侧夹爪"]
},
"观测.图像.robot0_agentview_left": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"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.robot0_agentview_right": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"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.robot0_eye_in_hand": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"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.深度.robot0_agentview_left": {
"数据类型": "float16",
"形状": [256, 256],
"维度名称": "深度图像"
},
"观测.深度.robot0_agentview_right": {
"数据类型": "float16",
"形状": [256, 256],
"维度名称": "深度图像"
},
"观测.深度.robot0_eye_in_hand": {
"数据类型": "float16",
"形状": [256, 256],
"维度名称": "深度图像"
},
"观测.内参.robot0_agentview_left": {
"数据类型": "float32",
"形状": [3, 3],
"维度名称": "内参矩阵"
},
"观测.内参.robot0_agentview_right": {
"数据类型": "float32",
"形状": [3, 3],
"维度名称": "内参矩阵"
},
"观测.内参.robot0_eye_in_hand": {
"数据类型": "float32",
"形状": [3, 3],
"维度名称": "内参矩阵"
},
"观测.外参.robot0_agentview_left": {
"数据类型": "float32",
"形状": [4, 4],
"维度名称": "外参矩阵"
},
"观测.外参.robot0_agentview_right": {
"数据类型": "float32",
"形状": [4, 4],
"维度名称": "外参矩阵"
},
"观测.外参.robot0_eye_in_hand": {
"数据类型": "float32",
"形状": [4, 4],
"维度名称": "外参矩阵"
},
"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]