Inhachoi/orca_dataset
收藏Hugging Face2026-03-26 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/Inhachoi/orca_dataset
下载链接
链接失效反馈官方服务：
资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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=Inhachoi/orca_dataset">
<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": "orca_hand",
"total_episodes": 30,
"total_frames": 16962,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:30"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"thumb_mcp.pos",
"thumb_abd.pos",
"thumb_pip.pos",
"thumb_dip.pos",
"index_abd.pos",
"index_mcp.pos",
"index_pip.pos",
"middle_abd.pos",
"middle_mcp.pos",
"middle_pip.pos",
"ring_abd.pos",
"ring_mcp.pos",
"ring_pip.pos",
"pinky_abd.pos",
"pinky_mcp.pos",
"pinky_pip.pos"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"thumb_mcp.pos",
"thumb_abd.pos",
"thumb_pip.pos",
"thumb_dip.pos",
"index_abd.pos",
"index_mcp.pos",
"index_pip.pos",
"middle_abd.pos",
"middle_mcp.pos",
"middle_pip.pos",
"ring_abd.pos",
"ring_mcp.pos",
"ring_pip.pos",
"pinky_abd.pos",
"pinky_mcp.pos",
"pinky_pip.pos"
],
"shape": [
16
]
},
"observation.images.camera1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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]
```
许可证：Apache 2.0
任务类别：
- 机器人学
标签：
- LeRobot（LeRobot）
配置项：
- 配置名称：默认配置
数据文件路径：data/*/*.parquet
本数据集由[LeRobot](https://github.com/huggingface/lerobot)开发构建。
可点击以下链接可视化本数据集：
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Inhachoi/orca_dataset">
<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>
## 数据集说明
- **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
[meta/info.json]：
json
{
"代码库版本": "v3.0",
"机器人类型": "orca手（orca_hand）",
"总轨迹数": 30,
"总帧数": 16962,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 30,
"数据集划分": {
"训练集": "0:30"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作（action）": {
"数据类型": "float32",
"维度名称": [
"拇指掌指关节位置（thumb_mcp.pos）",
"拇指外展关节位置（thumb_abd.pos）",
"拇指近节指间关节位置（thumb_pip.pos）",
"拇指远节指间关节位置（thumb_dip.pos）",
"食指外展关节位置（index_abd.pos）",
"食指掌指关节位置（index_mcp.pos）",
"食指近节指间关节位置（index_pip.pos）",
"中指外展关节位置（middle_abd.pos）",
"中指掌指关节位置（middle_mcp.pos）",
"中指近节指间关节位置（middle_pip.pos）",
"无名指外展关节位置（ring_abd.pos）",
"无名指掌指关节位置（ring_mcp.pos）",
"无名指近节指间关节位置（ring_pip.pos）",
"小指外展关节位置（pinky_abd.pos）",
"小指掌指关节位置（pinky_mcp.pos）",
"小指近节指间关节位置（pinky_pip.pos）"
],
"形状": [16]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"维度名称": [
"拇指掌指关节位置（thumb_mcp.pos）",
"拇指外展关节位置（thumb_abd.pos）",
"拇指近节指间关节位置（thumb_pip.pos）",
"拇指远节指间关节位置（thumb_dip.pos）",
"食指外展关节位置（index_abd.pos）",
"食指掌指关节位置（index_mcp.pos）",
"食指近节指间关节位置（index_pip.pos）",
"中指外展关节位置（middle_abd.pos）",
"中指掌指关节位置（middle_mcp.pos）",
"中指近节指间关节位置（middle_pip.pos）",
"无名指外展关节位置（ring_abd.pos）",
"无名指掌指关节位置（ring_mcp.pos）",
"无名指近节指间关节位置（ring_pip.pos）",
"小指外展关节位置（pinky_abd.pos）",
"小指掌指关节位置（pinky_mcp.pos）",
"小指近节指间关节位置（pinky_pip.pos）"
],
"形状": [16]
},
"观测图像（camera1相机）（observation.images.camera1）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度名称": ["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",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否含音频": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"轨迹索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式：**
bibtex
[需补充更多信息]
提供机构：
Inhachoi
