argus-systems/pickup-carrot-no-subversion-2

---
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": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_stationary",
"total_episodes": 21,
"total_frames": 9383,
"total_tasks": 1,
"total_videos": 84,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:21"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"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
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

---
license: Apache 2.0 协议
task_categories:
- 机器人学（robotics）
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

本数据集由[LeRobot](https://github.com/huggingface/lerobot)工具链构建生成。

## 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` 文件内容如下：
json
{
"代码库版本": "v2.1",
"特洛森子版本": "v1.0",
"机器人类型": "trossen_ai_stationary",
"总回合数": 21,
"总帧数": 9383,
"总任务数": 1,
"总视频数": 84,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:21"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"动作": {
"数据类型": "float32",
"形状": [
14
],
"维度名称": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"观测.状态": {
"数据类型": "float32",
"形状": [
14
],
"维度名称": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
},
"观测.图像.顶置摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"补充信息": {
"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": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"观测.图像.底置摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"补充信息": {
"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": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"观测.图像.左手腕摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"补充信息": {
"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": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"观测.图像.右手腕摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"补充信息": {
"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": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"无音频": false
}
},
"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：**
bibtex
[待补充更多信息]