KGB0/pick_and_place_annotation
收藏Hugging Face2026-03-10 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/KGB0/pick_and_place_annotation
下载链接
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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).
## 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_Inspire",
"total_episodes": 1035,
"total_frames": 322070,
"total_tasks": 14,
"total_videos": 2070,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1035"
},
"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": [
68
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
"state_5",
"state_6",
"state_7",
"state_8",
"state_9",
"state_10",
"state_11",
"state_12",
"state_13",
"state_14",
"state_15",
"state_16",
"state_17",
"state_18",
"state_19",
"state_20",
"state_21",
"state_22",
"state_23",
"state_24",
"state_25",
"state_26",
"state_27",
"state_28",
"state_29",
"state_30",
"state_31",
"state_32",
"state_33",
"state_34",
"state_35",
"state_36",
"state_37",
"state_38",
"state_39",
"state_40",
"state_41",
"state_42",
"state_43",
"state_44",
"state_45",
"state_46",
"state_47",
"state_48",
"state_49",
"state_50",
"state_51",
"state_52",
"state_53",
"state_54",
"state_55",
"state_56",
"state_57",
"state_58",
"state_59",
"state_60",
"state_61",
"state_62",
"state_63",
"state_64",
"state_65",
"state_66",
"state_67"
]
},
"action": {
"dtype": "float32",
"shape": [
26
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11",
"action_12",
"action_13",
"action_14",
"action_15",
"action_16",
"action_17",
"action_18",
"action_19",
"action_20",
"action_21",
"action_22",
"action_23",
"action_24",
"action_25"
]
},
"observation.language.tokens": {
"dtype": "int32",
"shape": [
48
],
"names": [
"seq"
]
},
"observation.language.attention_mask": {
"dtype": "int8",
"shape": [
48
],
"names": [
"seq"
]
},
"observation.contact.left_hand": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.right_hand": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.object_id": {
"dtype": "int32",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.source_frame_index": {
"dtype": "int32",
"shape": [
1
],
"names": [
"index"
]
},
"observation.contact.valid": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.confidence_id": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
848
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_third": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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：
KGB0
