JiajunLI/roboimi
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

chore(readme): 修改readme里的数据结构标准

Browse Source
This commit is contained in:
gouhanke
2026-02-04 14:33:52 +08:00
parent 3465782256
commit 3f8c3dbf5d
1 changed files with 8 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
README.md
View File

@@ -94,15 +94,14 @@ Projector 负责将 VLM 特征维度对齐到 Agent 的 Embedding 维度。
### 1. 数据结构标准 ### 1. 数据结构标准
数据集必须遵循 [Robomimic](https://robomimic.github.io/) 的层级结构： 数据集必须遵循 [Robomimic](https://robomimic.github.io/) 的层级结构：
```text ```text
dataset.hdf5 episode_0.hdf5
├── data/ ├── action: Dataset, shape=(700, 16), dtype=float32
│ ├── demo_0/ └── observations: Group
│ │ ├── obs/ ├── images: Group
│ │ │ ├── agentview_rgb # (T, H, W, 3) uint8 │ ├── angle: Dataset, shape=(700, 480, 640, 3), dtype=uint8
│ │ │ └── qpos # (T, D) float32 │ ├── r_vis: Dataset, shape=(700, 480, 640, 3), dtype=uint8
│ │ ├── actions # (T, D) float32 │ └── top: Dataset, shape=(700, 480, 640, 3), dtype=uint8
│ │ └── language # (Attribute) String 指令 └── qpos: Dataset, shape=(700, 16), dtype=float32
│ └── ...
``` ```
### 2. 数据转换工具 ### 2. 数据转换工具