zzq1zh/dataset_large_merged_v4
收藏Hugging Face2026-04-02 更新2026-04-12 收录
下载链接：
https://hf-mirror.com/datasets/zzq1zh/dataset_large_merged_v4
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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=zzq1zh/dataset_large_merged_v4">
<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": "so101_mink",
"total_episodes": 180,
"total_frames": 39960,
"total_tasks": 36,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 13,
"splits": {
"train": "0:180"
},
"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": [
6
],
"names": [
"arm_joint_1",
"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
"arm_joint_5",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"arm_joint_1",
"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
"arm_joint_5",
"gripper"
]
},
"observation.images.cam_global": {
"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": 13,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_oblique": {
"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": 13,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.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": 13,
"video.channels": 3,
"has_audio": false
}
},
"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]
```
---
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：data/*/*.parquet
---
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)框架构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=zzq1zh/dataset_large_merged_v4">
<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>
## 数据集说明
- **主页**：[待补充更多信息]
- **论文**：[待补充更多信息]
- **许可证**：Apache-2.0
## 数据集结构
`meta/info.json`文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "so101_mink",
"总轨迹数": 180,
"总帧数": 39960,
"总任务数": 36,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 13,
"数据集划分": {
"训练集": "0:180"
},
"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",
"特征项": {
"观测.状态": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5", "gripper"]
},
"动作": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["arm_joint_1", "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5", "gripper"]
},
"观测.图像.全局相机": {
"数据类型": "video",
"形状": [3, 480, 640],
"维度名称": ["channels", "height", "width"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 13,
"视频通道数": 3,
"含音频": false
}
},
"观测.图像.斜置相机": {
"数据类型": "video",
"形状": [3, 480, 640],
"维度名称": ["channels", "height", "width"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 13,
"视频通道数": 3,
"含音频": false
}
},
"观测.图像.左腕相机": {
"数据类型": "video",
"形状": [3, 480, 640],
"维度名称": ["channels", "height", "width"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 13,
"视频通道数": 3,
"含音频": false
}
},
"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
},
"轨迹索引": {
"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
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用说明
**BibTeX格式**：
bibtex
[待补充更多信息]
提供机构：
zzq1zh
