axiboai/piper-stack-act-tactile-depth-v0
收藏Hugging Face2026-05-20 更新2026-05-31 收录
下载链接：
https://hf-mirror.com/datasets/axiboai/piper-stack-act-tactile-depth-v0
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).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=axiboai/piper-stack-act-tactile-depth-v0">
<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": null,
"total_episodes": 400,
"total_frames": 223205,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:400"
},
"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.images.wrist_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 50,
"video.channels": 3
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 50,
"video.channels": 3
}
},
"observation.images.scene_top": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 50,
"video.channels": 3
}
},
"observation.depth.wrist_left": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"image.mode": "RGB",
"image.dtype": "uint8",
"image.format": "png"
}
},
"observation.depth.wrist_right": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"image.mode": "RGB",
"image.dtype": "uint8",
"image.format": "png"
}
},
"observation.depth.scene_top": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"image.mode": "RGB",
"image.dtype": "uint8",
"image.format": "png"
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"q1",
"q2",
"q3",
"q4",
"q5",
"q6",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_target_1",
"joint_target_2",
"joint_target_3",
"joint_target_4",
"joint_target_5",
"joint_target_6",
"joint_target_7"
]
},
"observation.tactile": {
"dtype": "float32",
"shape": [
32
],
"names": [
"tactile_0",
"tactile_1",
"tactile_2",
"tactile_3",
"tactile_4",
"tactile_5",
"tactile_6",
"tactile_7",
"tactile_8",
"tactile_9",
"tactile_10",
"tactile_11",
"tactile_12",
"tactile_13",
"tactile_14",
"tactile_15",
"tactile_16",
"tactile_17",
"tactile_18",
"tactile_19",
"tactile_20",
"tactile_21",
"tactile_22",
"tactile_23",
"tactile_24",
"tactile_25",
"tactile_26",
"tactile_27",
"tactile_28",
"tactile_29",
"tactile_30",
"tactile_31"
]
},
"metadata.demonstrator_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"demonstrator_id"
]
},
"metadata.station_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"station_id"
]
},
"metadata.task_variant": {
"dtype": "string",
"shape": [
1
],
"names": [
"task_variant"
]
},
"metadata.towel_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"towel_id"
]
},
"metadata.lighting": {
"dtype": "string",
"shape": [
1
],
"names": [
"lighting"
]
},
"metadata.mat_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"mat_id"
]
},
"metadata.success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success"
]
},
"metadata.notes": {
"dtype": "string",
"shape": [
1
],
"names": [
"notes"
]
},
"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：
axiboai
