stanford_robocook
收藏魔搭社区2025-12-04 更新2025-02-08 收录
下载链接：
https://modelscope.cn/datasets/lerobot/stanford_robocook
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资源简介：
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** https://hshi74.github.io/robocook/
- **Paper:** https://arxiv.org/abs/2306.14447
- **License:** mit
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 2460,
"total_frames": 112980,
"total_tasks": 9,
"total_videos": 9840,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:2460"
},
"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.image_1": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image_2": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image_4": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image_3": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
@article{shi2023robocook,
title={RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools},
author={Shi, Haochen and Xu, Huazhe and Clarke, Samuel and Li, Yunzhu and Wu, Jiajun},
journal={arXiv preprint arXiv:2306.14447},
year={2023}
}
```
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集说明
- **项目主页**：https://hshi74.github.io/robocook/
- **相关论文**：https://arxiv.org/abs/2306.14447
- **授权协议**：MIT
## 数据集结构
`[meta/info.json](meta/info.json)`:
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总轨迹数": 2460,
"总帧数": 112980,
"总任务数": 9,
"总视频数": 9840,
"总数据分片数": 3,
"单分片大小": 1000,
"帧率": 5,
"数据划分": {
"训练集": "0:2460"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测.图像.image_1": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 5.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"含音频": false
}
},
"观测.图像.image_2": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 5.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"含音频": false
}
},
"观测.图像.image_4": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 5.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"含音频": false
}
},
"观测.图像.image_3": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道"],
"视频信息": {
"视频帧率": 5.0,
"视频编码": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"含音频": false
}
},
"语言指令": {
"数据类型": "string",
"形状": [1],
"维度名称": null
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"维度名称": {
"电机": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6", "motor_7"]
}
},
"动作": {
"数据类型": "float32",
"形状": [7],
"维度名称": {
"电机": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6"]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"下一时刻奖励": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"下一时刻终止标记": {
"数据类型": "bool",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用信息
**BibTeX格式：**
bibtex
@article{shi2023robocook,
title={RoboCook：采用多样化工具的长时序弹塑性物体操控},
author={Shi, Haochen and Xu, Huazhe and Clarke, Samuel and Li, Yunzhu and Wu, Jiajun},
journal={arXiv预印本 arXiv:2306.14447},
year={2023}
}
提供机构：
maas
创建时间：
2025-02-06
