Z1_DualArm_CleanupPencils_Dataset

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": "Unitree_Z1_Dual", "total_episodes": 251, "total_frames": 133032, "total_tasks": 1, "total_videos": 251, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:251" }, "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": [ "z1_dual_kLeftWaist", "z1_dual_kLeftShoulder", "z1_dual_kLeftElbow", "z1_dual_kLeftForearmRoll", "z1_dual_kLeftWristAngle", "z1_dual_kLeftWristRotate", "z1_dual_kRightWaist", "z1_dual_kRightShoulder", "z1_dual_kRightElbow", "z1_dual_kRightForearmRoll", "z1_dual_kRightWristAngle", "z1_dual_kRightWristRotate", "gripper_kLeftGripper", "gripper_kRightGripper" ] }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "z1_dual_kLeftWaist", "z1_dual_kLeftShoulder", "z1_dual_kLeftElbow", "z1_dual_kLeftForearmRoll", "z1_dual_kLeftWristAngle", "z1_dual_kLeftWristRotate", "z1_dual_kRightWaist", "z1_dual_kRightShoulder", "z1_dual_kRightElbow", "z1_dual_kRightForearmRoll", "z1_dual_kRightWristAngle", "z1_dual_kRightWristRotate", "gripper_kLeftGripper", "gripper_kRightGripper" ] }, "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 } }, "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] ```本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 数据集描述 - **主页：** [需补充更多信息] - **论文：** [需补充更多信息] - **许可证：** Apache-2.0 ## 数据集结构 元数据文件为[meta/info.json](meta/info.json)，其内容如下： json { "codebase_version": "v2.1", "robot_type": "Unitree_Z1_Dual（宇树Z1双臂机器人）", "total_episodes": 251, "total_frames": 133032, "total_tasks": 1, "total_videos": 251, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:251" }, "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": [ "z1_dual_kLeftWaist", "z1_dual_kLeftShoulder", "z1_dual_kLeftElbow", "z1_dual_kLeftForearmRoll", "z1_dual_kLeftWristAngle", "z1_dual_kLeftWristRotate", "z1_dual_kRightWaist", "z1_dual_kRightShoulder", "z1_dual_kRightElbow", "z1_dual_kRightForearmRoll", "z1_dual_kRightWristAngle", "z1_dual_kRightWristRotate", "gripper_kLeftGripper", "gripper_kRightGripper" ] }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "z1_dual_kLeftWaist", "z1_dual_kLeftShoulder", "z1_dual_kLeftElbow", "z1_dual_kLeftForearmRoll", "z1_dual_kLeftWristAngle", "z1_dual_kLeftWristRotate", "z1_dual_kRightWaist", "z1_dual_kRightShoulder", "z1_dual_kRightElbow", "z1_dual_kRightForearmRoll", "z1_dual_kRightWristAngle", "z1_dual_kRightWristRotate", "gripper_kLeftGripper", "gripper_kRightGripper" ] }, "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 } }, "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 } } } ## 引用 **BibTeX格式引用：** bibtex [需补充更多信息]

搜集汇总

背景与挑战

背景概述

该数据集使用LeRobot工具构建，专门针对Unitree Z1双足机器人执行单一清理任务，包含251个训练片段和超过13万帧数据。数据集采用Apache 2.0许可证，记录了机器人的14维动作与状态信息，以及480x640分辨率的视频观察数据。