ducido/merged_libero_s40_mdnl_original_s40_synthetic_20ep_2_hard_task_5ep_all_normal_task

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - libero - panda - rlds 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": "panda", "total_episodes": 800, "total_frames": 133851, "total_tasks": 40, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 10, "splits": { "train": "0:800" }, "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": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.wrist_image": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.image_depth": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.wrist_depth": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.image_mask": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.wrist_mask": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.object_of_interest_mask": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.images.object_of_interest_wrist_mask": { "dtype": "image", "shape": [ 3, 256, 256 ], "names": [ "channel", "height", "width" ] }, "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper", "gripper" ] } }, "observation.states.ee_state": { "dtype": "float32", "shape": [ 6 ], "names": { "motors": [ "x", "y", "z", "roll", "pitch", "yaw" ] } }, "observation.states.joint_state": { "dtype": "float32", "shape": [ 7 ], "names": { "motors": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] } }, "observation.states.gripper_state": { "dtype": "float32", "shape": [ 2 ], "names": { "motors": [ "gripper", "gripper" ] } }, "action": { "dtype": "float32", "shape": [ 7 ], "names": { "motors": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] } }, "ooi_mapping": { "dtype": "string", "shape": [ 1 ], "names": { "ooi_mapping": [ "ooi_mapping" ] } }, "ooi": { "dtype": "string", "shape": [ 1 ], "names": { "ooi": [ "ooi" ] } }, "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 task_categories: - 机器人学 tags: - LeRobot - libero - panda - rlds configs: - config_name: default data_files: data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 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 [meta/info.json](meta/info.json): json { "代码库版本": "v2.1", "机器人类型": "panda", "总回合数": 800, "总帧数": 133851, "总任务数": 40, "总视频数": 0, "总分块数": 1, "分块大小": 1000, "帧率": 10, "数据集划分": { "训练集": "0:800" }, "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": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.腕部图像": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.深度图像": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.腕部深度图像": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.图像掩码": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.腕部掩码": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.感兴趣目标掩码": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.图像.感兴趣目标腕部掩码": { "数据类型": "image", "形状": [ 3, 256, 256 ], "维度名称": [ "通道", "高度", "宽度" ] }, "观测.状态": { "数据类型": "float32", "形状": [ 8 ], "维度名称": { "电机": [ "x轴", "y轴", "z轴", "横滚", "俯仰", "偏航", "夹爪", "夹爪" ] } }, "观测.状态.末端执行器状态": { "数据类型": "float32", "形状": [ 6 ], "维度名称": { "电机": [ "x轴", "y轴", "z轴", "横滚", "俯仰", "偏航" ] } }, "观测.状态.关节状态": { "数据类型": "float32", "形状": [ 7 ], "维度名称": { "电机": [ "关节_0", "关节_1", "关节_2", "关节_3", "关节_4", "关节_5", "关节_6" ] } }, "观测.状态.夹爪状态": { "数据类型": "float32", "形状": [ 2 ], "维度名称": { "电机": [ "夹爪", "夹爪" ] } }, "动作": { "数据类型": "float32", "形状": [ 7 ], "维度名称": { "电机": [ "x轴", "y轴", "z轴", "横滚", "俯仰", "偏航", "夹爪" ] } }, "感兴趣目标映射": { "数据类型": "string", "形状": [ 1 ], "维度名称": { "感兴趣目标映射": [ "感兴趣目标映射" ] } }, "感兴趣目标": { "数据类型": "string", "形状": [ 1 ], "维度名称": { "感兴趣目标": [ "感兴趣目标" ] } }, "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 } } } ## 参考文献 **BibTeX格式**： bibtex [更多信息待补充]