paragon7060/robocasa_merged_24_tasks_100demos_v30
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下载链接：
https://hf-mirror.com/datasets/paragon7060/robocasa_merged_24_tasks_100demos_v30
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- INSIGHT
- robotics
- ' manipulation'
- guide
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=paragon7060/robocasa_merged_24_tasks_100demos_v30">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## 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": "v3.0",
"robot_type": "panda",
"total_episodes": 1912,
"total_frames": 528246,
"total_tasks": 265,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1912"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"right_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"left_image": {
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"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
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"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"wrist_image": {
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"shape": [
256,
256,
3
],
"names": [
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"channel"
],
"info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"left_ooi_bbox_mask": {
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],
"names": [
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],
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}
},
"right_ooi_bbox_mask": {
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"shape": [
256,
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3
],
"names": [
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"width",
"channel"
],
"info": {
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"video.codec": "av1",
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"video.is_depth_map": false,
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}
},
"wrist_ooi_bbox_mask": {
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"shape": [
256,
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],
"names": [
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],
"info": {
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"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"state"
],
"fps": 20
},
"actions": {
"dtype": "float32",
"shape": [
12
],
"names": [
"actions"
],
"fps": 20
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 20
},
"frame_index": {
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"shape": [
1
],
"names": null,
"fps": 20
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
---
license: Apache-2.0
task_categories:
- 机器人学
tags:
- LeRobot
- INSIGHT
- 机器人学
- 操作（manipulation）
- 指南
configs:
- config_name: default
data_files: data/*/*.parquet
---
本数据集基于LeRobot构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=paragon7060/robocasa_merged_24_tasks_100demos_v30">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## 数据集描述
- **主页:** [更多信息待补充]
- **论文:** [更多信息待补充]
- **许可证:** Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "panda",
"总回合数": 1912,
"总帧数": 528246,
"总任务数": 265,
"分块大小": 1000,
"帧率": 20,
"数据集划分": {
"训练集": "0:1912"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征项": {
"右侧图像": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"左侧图像": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
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"视频宽度": 256,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"腕部图像": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
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"视频宽度": 256,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"左侧感兴趣目标边界框掩码": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
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}
},
"右侧感兴趣目标边界框掩码": {
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"维度名称": ["高度", "宽度", "通道数"],
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"视频宽度": 256,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"腕部感兴趣目标边界框掩码": {
"数据类型": "video",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编解码器": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"是否包含音频": false
}
},
"状态": {
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"维度名称": ["状态"],
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},
"动作": {
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"形状": [12],
"维度名称": ["动作"],
"帧率": 20
},
"时间戳": {
"数据类型": "float32",
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"维度名称": null,
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},
"帧索引": {
"数据类型": "int64",
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},
"回合索引": {
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},
"全局索引": {
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},
"任务索引": {
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"形状": [1],
"维度名称": null,
"帧率": 20
}
},
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200
}
## 引用
**BibTeX格式引用:**
bibtex
[更多信息待补充]
提供机构：
paragon7060
