Factory-Intelligence/teleop-dataset
收藏Hugging Face2026-04-20 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/Factory-Intelligence/teleop-dataset
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- fitdex
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": "v3.0",
"robot_type": "yam",
"total_episodes": 5,
"total_frames": 5656,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 1,
"fps": 30,
"splits": {
"train": "0:5"
},
"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": [
26
],
"names": [
"bimanual.joint_pos_0",
"bimanual.joint_pos_1",
"bimanual.joint_pos_2",
"bimanual.joint_pos_3",
"bimanual.joint_pos_4",
"bimanual.joint_pos_5",
"bimanual.joint_pos_6",
"bimanual.joint_pos_7",
"bimanual.joint_pos_8",
"bimanual.joint_pos_9",
"bimanual.joint_pos_10",
"bimanual.joint_pos_11",
"bimanual.joint_pos_12",
"bimanual.joint_pos_13",
"bimanual.joint_vel_0",
"bimanual.joint_vel_1",
"bimanual.joint_vel_2",
"bimanual.joint_vel_3",
"bimanual.joint_vel_4",
"bimanual.joint_vel_5",
"bimanual.joint_vel_6",
"bimanual.joint_vel_7",
"bimanual.joint_vel_8",
"bimanual.joint_vel_9",
"bimanual.joint_vel_10",
"bimanual.joint_vel_11"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"bimanual.pos_0",
"bimanual.pos_1",
"bimanual.pos_2",
"bimanual.pos_3",
"bimanual.pos_4",
"bimanual.pos_5",
"bimanual.pos_6",
"bimanual.pos_7",
"bimanual.pos_8",
"bimanual.pos_9",
"bimanual.pos_10",
"bimanual.pos_11",
"bimanual.pos_12",
"bimanual.pos_13"
]
},
"observation.images.top_camera": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front_camera": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"ctrl_op_ts_ms": {
"dtype": "float64",
"shape": [
1
],
"names": [
"op_ts_ms"
]
},
"ctrl_arrival_ts_ns": {
"dtype": "int64",
"shape": [
1
],
"names": [
"arrival_ts_ns"
]
},
"ctrl_age_at_tick_ms": {
"dtype": "float64",
"shape": [
1
],
"names": [
"age_ms"
]
},
"tick_ts_ns": {
"dtype": "int64",
"shape": [
1
],
"names": [
"tick_ts_ns"
]
},
"safety_state": {
"dtype": "string",
"shape": [
1
],
"names": [
"state"
]
},
"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：
Factory-Intelligence
