focus-uy/aic_mimic_augmented_dataset_lerobot
收藏Hugging Face2026-04-28 更新2026-05-03 收录
下载链接：
https://hf-mirror.com/datasets/focus-uy/aic_mimic_augmented_dataset_lerobot
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- aic
- 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=focus-uy/aic_mimic_augmented_dataset_lerobot">
<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": "aic_arm",
"total_episodes": 500,
"total_frames": 19117,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:500"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
61
],
"names": [
"joint_pos_0",
"joint_pos_1",
"joint_pos_2",
"joint_pos_3",
"joint_pos_4",
"joint_pos_5",
"joint_vel_0",
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"eef_x",
"eef_y",
"eef_z",
"eef_qw",
"eef_qx",
"eef_qy",
"eef_qz",
"base_Fx",
"base_Fy",
"base_Fz",
"base_Tx",
"base_Ty",
"base_Tz",
"shoulder_Fx",
"shoulder_Fy",
"shoulder_Fz",
"shoulder_Tx",
"shoulder_Ty",
"shoulder_Tz",
"upper_arm_Fx",
"upper_arm_Fy",
"upper_arm_Fz",
"upper_arm_Tx",
"upper_arm_Ty",
"upper_arm_Tz",
"forearm_Fx",
"forearm_Fy",
"forearm_Fz",
"forearm_Tx",
"forearm_Ty",
"forearm_Tz",
"wrist_1_Fx",
"wrist_1_Fy",
"wrist_1_Fz",
"wrist_1_Tx",
"wrist_1_Ty",
"wrist_1_Tz",
"wrist_2_Fx",
"wrist_2_Fy",
"wrist_2_Fz",
"wrist_2_Tx",
"wrist_2_Ty",
"wrist_2_Tz",
"wrist_3_Fx",
"wrist_3_Fy",
"wrist_3_Fz",
"wrist_3_Tx",
"wrist_3_Ty",
"wrist_3_Tz"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"dx",
"dy",
"dz",
"drx",
"dry",
"drz"
]
},
"observation.images.center": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]
```
提供机构：
focus-uy
