pusht_image

该数据集为HuggingFace LeRobot格式机器人数据集。

This dataset is a robotic dataset in the HuggingFace LeRobot format.

原始信息汇总

数据集概述

基本信息

• 名称: lerobot/pusht_image
• 主页: https://diffusion-policy.cs.columbia.edu/
• 论文: https://arxiv.org/abs/2303.04137v5
• 许可证: MIT
• 任务类别: 机器人学
• 标签: LeRobot

数据集结构

• 总剧集数: 206
• 总帧数: 25650
• 总任务数: 1
• 总视频数: 0
• 总块数: 1
• 块大小: 1000
• 帧率: 10 fps
• 训练集分割: 0:206

数据特征

• observation.image:
  • 类型: 图像
  • 形状: [96, 96, 3]
  • 维度名称: ["height", "width", "channel"]
• observation.state:
  • 类型: float32
  • 形状: [2]
  • 维度名称: {"motors": ["motor_0", "motor_1"]}
• action:
  • 类型: float32
  • 形状: [2]
  • 维度名称: {"motors": ["motor_0", "motor_1"]}
• episode_index: int64, 形状: [1]
• frame_index: int64, 形状: [1]
• timestamp: float32, 形状: [1]
• next.reward: float32, 形状: [1]
• next.done: bool, 形状: [1]
• next.success: bool, 形状: [1]
• index: int64, 形状: [1]
• task_index: int64, 形状: [1]

引用

bibtex @article{chi2024diffusionpolicy, author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song}, title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion}, journal = {The International Journal of Robotics Research}, year = {2024}, }