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TreeePlanter
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steer_test_lerobot

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Image
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Formats:
parquet
Size:
10K - 100K
Tags:
robotics
imitation-learning
lerobot
manipulation
Libraries:
Datasets
Dask
License:
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Upload LeRobot dataset

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  1. README.md +77 -0
  2. data/chunk-000/episode_000000.parquet +3 -0
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README.md ADDED
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+ ---
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+ license: mit
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+ tags:
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+ - robotics
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+ - imitation-learning
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+ - lerobot
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+ - manipulation
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+ size_categories:
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+ - 1K<n<10K
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+ ---
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+
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+ # Steer Test LeRobot Dataset
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+
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+ 这是一个用于机器人操作任务的 LeRobot 格式数据集。
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+
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+ ## 数据集描述
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+
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+ - **总集数**: 199
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+ - **总帧数**: 32,511
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+ - **任务数**: 4
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+ - **帧率**: 10 FPS
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+ - **机器人**: 7自由度机械臂 + 夹爪
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+
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+ ## 数据格式
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+
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+ 数据集采用 LeRobot v2.1 格式，包含以下特征：
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+
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+ ### 观测数据
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+ - `observation.state`: 8维关节状态 (joint1-joint7 + gripper)
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+ - `observation.images.camera_0`: 480x640x3 RGB图像
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+ - `observation.images.camera_1`: 480x640x3 RGB图像
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+
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+ ### 动作数据
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+ - `action`: 7维动作 (dx, dy, dz, dqx, dqy, dqz, gripper)
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+
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+ ### 元数据
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+ - `timestamp`: 时间戳
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+ - `frame_index`: 帧索引
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+ - `episode_index`: 集索引
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+ - `task_index`: 任务索引
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+
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+ ## 使用方法
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+
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+ ```python
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+ from datasets import load_dataset
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+
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+ # 加载数据集
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+ dataset = load_dataset("your-username/steer_test_lerobot")
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+
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+ # 访问训练集
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+ train_data = dataset["train"]
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+
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+ # 查看单个样本
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+ sample = train_data[0]
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+ print(f"观测状态形状: {sample['observation']['state'].shape}")
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+ print(f"动作形状: {sample['action'].shape}")
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+ print(f"图像形状: {sample['observation']['images']['camera_0'].shape}")
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+ ```
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+
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+ ## 数据集统计
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+
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+ - 训练集: 199个episodes (0:199)
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+ - 数据分块: 1个chunk，每chunk最多1000个episodes
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+ - 数据路径: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
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+
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+ ## 引用
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+
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+ 如果您使用了此数据集，请引用：
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+
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+ ```bibtex
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+ @dataset{steer_test_lerobot,
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+ title={Steer Test LeRobot Dataset},
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+ author={Your Name},
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+ year={2024},
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+ url={https://huggingface.co/datasets/your-username/steer_test_lerobot}
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+ }
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+ ```
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