lyl472324464/2026-04-21_direction_2-lerobot

--- 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": "v3.0", "robot_type": "aloha", "total_episodes": 61, "total_frames": 31777, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 200, "video_files_size_in_mb": 200, "fps": 50, "splits": { "train": "0:61" }, "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": [ 14 ], "names": [ [ "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper" ] ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ [ "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper" ] ] }, "observation.velocity": { "dtype": "float32", "shape": [ 14 ], "names": [ [ "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper" ] ] }, "observation.effort": { "dtype": "float32", "shape": [ 14 ], "names": [ [ "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper" ] ] }, "observation.images.cam_high": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_low": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 50, "video.channels": 3, "has_audio": false } }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "subtask": { "dtype": "string", "shape": [ 1 ], "names": null }, "is_for_training": { "dtype": "bool", "shape": [ 1 ], "names": null }, "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 } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 数据集描述 - **主页：** [需补充更多信息] - **论文：** [需补充更多信息] - **许可证：** Apache-2.0 ## 数据集结构 `meta/info.json`： json { "代码库版本": "v3.0", "机器人类型": "aloha", "总回合数": 61, "总帧数": 31777, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 200, "视频文件总大小（MB）": 200, "帧率": 50, "数据集划分": { "训练集": "0:61" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测.关节状态": { "数据类型": "float32", "形状": [ 14 ], "关节名称": [ [ "左腰", "左肩", "左肘", "左前臂旋转", "左腕角度", "左腕旋转", "左夹爪", "右腰", "右肩", "右肘", "右前臂旋转", "右腕角度", "右腕旋转", "右夹爪" ] ] }, "动作": { "数据类型": "float32", "形状": [ 14 ], "关节名称": [ [ "左腰", "左肩", "左肘", "左前臂旋转", "左腕角度", "左腕旋转", "左夹爪", "右腰", "右肩", "右肘", "右前臂旋转", "右腕角度", "右腕旋转", "右夹爪" ] ] }, "观测.关节速度": { "数据类型": "float32", "形状": [ 14 ], "关节名称": [ [ "左腰", "左肩", "左肘", "左前臂旋转", "左腕角度", "左腕旋转", "左夹爪", "右腰", "右肩", "右肘", "右前臂旋转", "右腕角度", "右腕旋转", "右夹爪" ] ] }, "观测.关节出力": { "数据类型": "float32", "形状": [ 14 ], "关节名称": [ [ "左腰", "左肩", "左肘", "左前臂旋转", "左腕角度", "左腕旋转", "左夹爪", "右腰", "右肩", "右肘", "右前臂旋转", "右腕角度", "右腕旋转", "右夹爪" ] ] }, "观测图像.顶置摄像头": { "数据类型": "video", "形状": [ 3, 480, 640 ], "维度名称": [ "通道数", "高度", "宽度" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "av1", "像素格式": "yuv420p", "非深度图": false, "视频帧率": 50, "视频通道数": 3, "无音频": false } }, "观测图像.低位摄像头": { "数据类型": "video", "形状": [ 3, 480, 640 ], "维度名称": [ "通道数", "高度", "宽度" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "av1", "像素格式": "yuv420p", "非深度图": false, "视频帧率": 50, "视频通道数": 3, "无音频": false } }, "观测图像.左腕摄像头": { "数据类型": "video", "形状": [ 3, 480, 640 ], "维度名称": [ "通道数", "高度", "宽度" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "av1", "像素格式": "yuv420p", "非深度图": false, "视频帧率": 50, "视频通道数": 3, "无音频": false } }, "观测图像.右腕摄像头": { "数据类型": "video", "形状": [ 3, 480, 640 ], "维度名称": [ "通道数", "高度", "宽度" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码": "av1", "像素格式": "yuv420p", "非深度图": false, "视频帧率": 50, "视频通道数": 3, "无音频": false } }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "子任务": { "数据类型": "string", "形状": [ 1 ], "维度名称": null }, "训练标识": { "数据类型": "bool", "形状": [ 1 ], "维度名称": null }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "回合索引": { "数据类型": "int64", "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 } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]