R1_Lite_washing_board
收藏魔搭社区2025-11-20 更新2025-11-22 收录
下载链接：
https://modelscope.cn/datasets/RoboCOIN/R1_Lite_washing_board
下载链接
链接失效反馈官方服务：
资源简介：
# R1_Lite_washing_board
## 📋 Overview
This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.
**Robot Type:** `galaxea_r1_lite`
| **Codebase Version:** `v2.1`
## 📊 Dataset Statistics
| Metric | Value |
|--------|-------|
| **Total Episodes** | 97 |
| **Total Frames** | 156103 |
| **Total Tasks** | 1 |
| **Total Videos** | 291 |
| **Total Chunks** | 1 |
| **Chunk Size** | 1000 |
| **FPS** | 30 |
## 👥 Authors
### Contributors
This dataset is contributed by:
- @BAAI-RoboCOIN Team
- @Beijing Academy of Artificial Intelligence
## 🔗 Links
- **🏠 Homepage:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📄 Paper:** [in comming](in comming)
- **💻 Repository:** [https://github.com/RoboCoin/robocoin-dataset](https://github.com/RoboCoin/robocoin-dataset)
- **🌐 Project Page:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📜 License:** apache-2.0
## 🏷️ Dataset Tags
- `RoboCoin`
- `LeRobot`
## 🎯 Task Descriptions
### Primary Tasks
turn on tap scrub cutting board with cloth then turn off tap.
### Sub-Tasks
This dataset includes 9 distinct subtasks:
1. **abnormal**
2. **null**
3. **Pick up the cleaning cloth**
4. **Pick up the cutting board**
5. **Put down the cleaning cloth**
6. **Put down the cutting board**
7. **Scrub the cutting board underwater**
8. **Turn off the tap**
9. **Turn on the tap**
## 🎥 Camera Views
This dataset includes 14 camera views.
## 🏷️ Available Annotations
This dataset includes rich annotations to support diverse learning approaches:
### Subtask Annotations
- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
### Scene Annotations
- **Scene-level Descriptions**: Semantic scene classifications and descriptions
### End-Effector Annotations
- **Direction**: Movement direction classifications for robot end-effectors
- **Velocity**: Velocity magnitude categorizations during manipulation
- **Acceleration**: Acceleration magnitude classifications for motion analysis
### Gripper Annotations
- **Gripper Mode**: Open/close state annotations for gripper control
- **Gripper Activity**: Activity state classifications (active/inactive)
### Additional Features
- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
- Available for both state and action
- **Gripper Opening Scale**: Continuous gripper opening measurements
- Available for both state and action
## 📂 Data Splits
The dataset is organized into the following splits:
- **Training**: Episodes 0:96
## 📁 Dataset Structure
This dataset follows the LeRobot format and contains the following components:
### Data Files
- **Videos**: Compressed video files containing RGB camera observations
- **State Data**: Robot joint positions, velocities, and other state information
- **Action Data**: Robot action commands and trajectories
- **Metadata**: Episode metadata, timestamps, and annotations
### File Organization
- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
- **Chunking**: Data is organized into 1 chunk(s)
of size 1000
### Features Schema
The dataset includes the following features:
#### Visual Observations
- **observation.images.cam_high_rgb**: video
- FPS: 30
- Codec: av1- **observation.images.cam_left_wrist_rgb**: video
- FPS: 30
- Codec: av1- **observation.images.cam_right_wrist_rgb**: video
- FPS: 30
- Codec: av1
#### State and Action- **observation.state**: float32- **action**: float32
#### Temporal Information
- **timestamp**: float32
- **frame_index**: int64
- **episode_index**: int64
- **index**: int64
- **task_index**: int64
#### Annotations
- **subtask_annotation**: int32
- **scene_annotation**: int32
#### Motion Features
- **eef_sim_pose_state**: float32
- Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
- **eef_sim_pose_action**: float32
- Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
- **eef_direction_state**: int32
- Dimensions: left_eef_direction, right_eef_direction
- **eef_direction_action**: int32
- Dimensions: left_eef_direction, right_eef_direction
- **eef_velocity_state**: int32
- Dimensions: left_eef_velocity, right_eef_velocity
- **eef_velocity_action**: int32
- Dimensions: left_eef_velocity, right_eef_velocity
- **eef_acc_mag_state**: int32
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
- **eef_acc_mag_action**: int32
- Dimensions: left_eef_acc_mag, right_eef_acc_mag
#### Gripper Features
- **gripper_open_scale_state**: float32
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
- **gripper_open_scale_action**: float32
- Dimensions: left_gripper_open_scale, right_gripper_open_scale
- **gripper_mode_state**: int32
- Dimensions: left_gripper_mode, right_gripper_mode
- **gripper_mode_action**: int32
- Dimensions: left_gripper_mode, right_gripper_mode
- **gripper_activity_state**: int32
- Dimensions: left_gripper_activity, right_gripper_activity
### Meta Information
The complete dataset metadata is available in [meta/info.json](meta/info.json):
```json
{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 97, "total_frames": 156103, "total_tasks": 1, "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:96"}, "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.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "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}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
```
### Directory Structure
The dataset is organized as follows (showing leaf directories with first 5 files only):
```
R1_Lite_washing_board_qced_hardlink/
├── annotations/
│ ├── eef_acc_mag_annotation.jsonl
│ ├── eef_direction_annotation.jsonl
│ ├── eef_velocity_annotation.jsonl
│ ├── gripper_activity_annotation.jsonl
│ ├── gripper_mode_annotation.jsonl
│ └── (...)
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ ├── episode_000002.parquet
│ ├── episode_000003.parquet
│ ├── episode_000004.parquet
│ └── (...)
├── meta/
│ ├── episodes.jsonl
│ ├── episodes_stats.jsonl
│ ├── info.json
│ └── tasks.jsonl
└── videos/
└── chunk-000/
├── observation.images.cam_high_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
├── observation.images.cam_left_wrist_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
└── observation.images.cam_right_wrist_rgb/
├── episode_000000.mp4
├── episode_000001.mp4
├── episode_000002.mp4
├── episode_000003.mp4
├── episode_000004.mp4
└── (...)
```
## 📄 License
This dataset is released under the **apache-2.0** license.
Please refer to the LICENSE file for full license terms and conditions.
## 📌 Version Information
## Version History
- v1.0.0 (2025-11): Initial release
# R1_Lite_washing_board
## 📋 数据集概览
本数据集采用基于LeRobot（LeRobot）的扩展格式，并与LeRobot完全兼容，原项目地址：https://github.com/huggingface/lerobot。
**机器人类型**：`galaxea_r1_lite`
**代码库版本**：`v2.1`
## 📊 数据集统计
| 指标 | 数值 |
| ---- | ---- |
| **总回合数** | 97 |
| **总帧数** | 156103 |
| **总任务数** | 1 |
| **总视频数** | 291 |
| **总分块数** | 1 |
| **分块大小** | 1000 |
| **帧率（FPS）** | 30 |
## 👥 作者信息
### 贡献者
本数据集由以下团队贡献：
- @BAAI-RoboCOIN团队
- @北京人工智能研究院（Beijing Academy of Artificial Intelligence）
## 🔗 相关链接
- **🏠 主页**：[https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📄 论文**：待发表
- **💻 代码仓库**：[https://github.com/RoboCoin/robocoin-dataset](https://github.com/RoboCoin/robocoin-dataset)
- **🌐 项目页面**：[https://RoboCoin.github.io/](https://RoboCoin.github.io/)
- **📜 许可证**：apache-2.0
## 🏷️ 数据集标签
- `RoboCoin`
- `LeRobot`
## 🎯 任务描述
### 核心任务
打开水龙头，使用抹布擦拭砧板，随后关闭水龙头。
### 子任务
本数据集包含9个独立子任务：
1. **异常（abnormal）**
2. **空任务（null）**
3. **拾取清洁抹布**
4. **拾取砧板**
5. **放置清洁抹布**
6. **放置砧板**
7. **水下擦拭砧板**
8. **关闭水龙头**
9. **打开水龙头**
## 🎥 相机视角
本数据集包含14个相机视角。
## 🏷️ 可用标注
本数据集包含丰富的标注，以支持多样化的学习任务：
### 子任务标注
- **子任务分割**：细粒度子任务分割与标注
### 场景标注
- **场景级描述**：语义场景分类与描述
### 末端执行器标注
- **运动方向**：机器人末端执行器的运动方向分类
- **速度**：操作过程中的速度幅值分类
- **加速度**：用于运动分析的加速度幅值分类
### 夹爪标注
- **夹爪模式**：夹爪开合状态标注
- **夹爪活动状态**：活动/非活动状态分类
### 附加特征
- **末端执行器仿真位姿**：仿真空间中末端执行器的6D位姿信息，支持状态与动作两类数据
- **夹爪开合度**：连续的夹爪开合幅度测量值，支持状态与动作两类数据
## 📂 数据划分
本数据集划分为以下子集：
- **训练集**：回合0:96
## 📁 数据集结构
本数据集遵循LeRobot格式，包含以下组成部分：
### 数据文件
- **视频文件**：包含RGB相机观测的压缩视频
- **状态数据**：机器人关节位置、速度及其他状态信息
- **动作数据**：机器人动作指令与轨迹
- **元数据**：回合元数据、时间戳与标注信息
### 文件组织
- **数据路径模式**：`data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- **视频路径模式**：`videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
- **分块规则**：数据被划分为1个分块，每个分块大小为1000
### 特征 schema
本数据集包含以下特征：
#### 视觉观测
- **observation.images.cam_high_rgb**：视频，帧率：30，编码格式：av1
- **observation.images.cam_left_wrist_rgb**：视频，帧率：30，编码格式：av1
- **observation.images.cam_right_wrist_rgb**：视频，帧率：30，编码格式：av1
#### 状态与动作
- **observation.state**：float32类型
- **action**：float32类型
#### 时间信息
- **timestamp**：float32
- **frame_index**：int64
- **episode_index**：int64
- **index**：int64
- **task_index**：int64
#### 标注
- **subtask_annotation**：int32
- **scene_annotation**：int32
#### 运动特征
- **eef_sim_pose_state**：float32类型，维度：left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
- **eef_sim_pose_action**：float32类型，维度同上
- **eef_direction_state**：int32类型，维度：left_eef_direction, right_eef_direction
- **eef_direction_action**：int32类型，维度同上
- **eef_velocity_state**：int32类型，维度：left_eef_velocity, right_eef_velocity
- **eef_velocity_action**：int32类型，维度同上
- **eef_acc_mag_state**：int32类型，维度：left_eef_acc_mag, right_eef_acc_mag
- **eef_acc_mag_action**：int32类型，维度同上
#### 夹爪特征
- **gripper_open_scale_state**：float32类型，维度：left_gripper_open_scale, right_gripper_open_scale
- **gripper_open_scale_action**：float32类型，维度同上
- **gripper_mode_state**：int32类型，维度：left_gripper_mode, right_gripper_mode
- **gripper_mode_action**：int32类型，维度同上
- **gripper_activity_state**：int32类型，维度：left_gripper_activity, right_gripper_activity
### 元信息
完整的数据集元数据可参见`meta/info.json`：
json
{"codebase_version": "v2.1", "robot_type": "galaxea_r1_lite", "total_episodes": 97, "total_frames": 156103, "total_tasks": 1, "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:96"}, "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.images.cam_high_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [720, 1280, 3], "names": ["height", "width", "channels"], "info": {"video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "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}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
### 目录结构
本数据集组织形式如下（仅展示叶目录及前5个文件）：
R1_Lite_washing_board_qced_hardlink/
├── annotations/
│ ├── eef_acc_mag_annotation.jsonl
│ ├── eef_direction_annotation.jsonl
│ ├── eef_velocity_annotation.jsonl
│ ├── gripper_activity_annotation.jsonl
│ ├── gripper_mode_annotation.jsonl
│ └── (...)
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ ├── episode_000002.parquet
│ ├── episode_000003.parquet
│ ├── episode_000004.parquet
│ └── (...)
├── meta/
│ ├── episodes.jsonl
│ ├── episodes_stats.jsonl
│ ├── info.json
│ └── tasks.jsonl
└── videos/
└── chunk-000/
├── observation.images.cam_high_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
├── observation.images.cam_left_wrist_rgb/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ ├── episode_000002.mp4
│ ├── episode_000003.mp4
│ ├── episode_000004.mp4
│ └── (...)
└── observation.images.cam_right_wrist_rgb/
├── episode_000000.mp4
├── episode_000001.mp4
├── episode_000002.mp4
├── episode_000003.mp4
├── episode_000004.mp4
└── (...)
## 📄 许可证
本数据集采用**apache-2.0**许可证发布，完整许可证条款请参阅LICENSE文件。
## 📌 版本信息
### 版本历史
- v1.0.0（2025年11月）：初始发布
提供机构：
maas
创建时间：
2025-11-19
