G1_Dex3_PickApple_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_G1_Dex3", "total_episodes": 201, "total_frames": 152569, "total_tasks": 1, "total_videos": 804, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:201" }, "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.state": { "dtype": "float32", "shape": [ 28 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kLeftHandThumb0", "kLeftHandThumb1", "kLeftHandThumb2", "kLeftHandMiddle0", "kLeftHandMiddle1", "kLeftHandIndex0", "kLeftHandIndex1", "kRightHandThumb0", "kRightHandThumb1", "kRightHandThumb2", "kRightHandIndex0", "kRightHandIndex1", "kRightHandMiddle0", "kRightHandMiddle1" ] ] }, "action": { "dtype": "float32", "shape": [ 28 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kLeftHandThumb0", "kLeftHandThumb1", "kLeftHandThumb2", "kLeftHandMiddle0", "kLeftHandMiddle1", "kLeftHandIndex0", "kLeftHandIndex1", "kRightHandThumb0", "kRightHandThumb1", "kRightHandThumb2", "kRightHandIndex0", "kRightHandIndex1", "kRightHandMiddle0", "kRightHandMiddle1" ] ] }, "observation.images.cam_left_high": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_high": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "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)开发构建。 ## 数据集说明 - **主页**：[更多信息待补充] - **论文**：[更多信息待补充] - **许可证**：Apache-2.0许可证 ## 数据集结构 元数据文件为[meta/info.json](meta/info.json)，其内容如下： json { "代码库版本": "v2.1", "机器人类型": "宇树G1 Dex3（Unitree_G1_Dex3）", "总回合数": 201, "总帧数": 152569, "总任务数": 1, "总视频数": 804, "总分块数": 1, "分块大小": 1000, "帧率": 30, "数据集划分": { "训练集": "0:201" }, "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": { "观测状态": { "数据类型": "float32", "形状": [ 28 ], "命名项": [ [ "左肩关节俯仰", "左肩关节滚转", "左肩关节偏航", "左肘关节", "左腕关节滚转", "左腕关节俯仰", "左腕关节偏航", "右肩关节俯仰", "右肩关节滚转", "右肩关节偏航", "右肘关节", "右腕关节滚转", "右腕关节俯仰", "右腕关节偏航", "左手拇指关节0", "左手拇指关节1", "左手拇指关节2", "左手中指关节0", "左手中指关节1", "左手食指关节0", "左手食指关节1", "右手拇指关节0", "右手拇指关节1", "右手拇指关节2", "右手食指关节0", "右手食指关节1", "右手中指关节0", "右手中指关节1" ] ] }, "动作": { "数据类型": "float32", "形状": [ 28 ], "命名项": [ [ "左肩关节俯仰", "左肩关节滚转", "左肩关节偏航", "左肘关节", "左腕关节滚转", "左腕关节俯仰", "左腕关节偏航", "右肩关节俯仰", "右肩关节滚转", "右肩关节偏航", "右肘关节", "右腕关节滚转", "右腕关节俯仰", "右腕关节偏航", "左手拇指关节0", "左手拇指关节1", "左手拇指关节2", "左手中指关节0", "左手中指关节1", "左手食指关节0", "左手食指关节1", "右手拇指关节0", "右手拇指关节1", "右手拇指关节2", "右手食指关节0", "右手食指关节1", "右手中指关节0", "右手中指关节1" ] ] }, "观测图像.左高位相机": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "命名项": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "帧率": 30, "通道数": 3, "是否含音频": false } }, "观测图像.右高位相机": { "数据类型": "视频", "形状": [ 480, 640, 3 ], "命名项": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "帧率": 30, "通道数": 3, "是否含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "命名项": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "命名项": null } } } ## 引用 **BibTeX格式引用**： bibtex [更多信息待补充]

搜集汇总

背景与挑战

背景概述

该数据集由LeRobot创建，专为Unitree G1 Dex3双手机器人设计，用于拾取苹果任务。它包含201个训练片段、超过15万帧数据及804个视频，记录了机器人的28维关节状态、动作以及左右高清摄像头的视觉观测。