Gongsta/e7-tshirt-folding
收藏Hugging Face2026-03-24 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/Gongsta/e7-tshirt-folding
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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=Gongsta/e7-tshirt-folding">
<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": "bi_dk1_follower",
"total_episodes": 105,
"total_frames": 143126,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:105"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_gripper.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_gripper.pos",
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.wx",
"left_ee.wy",
"left_ee.wz",
"left_ee.gripper_pos",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.wx",
"right_ee.wy",
"right_ee.wz",
"right_ee.gripper_pos"
],
"shape": [
28
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_gripper.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_gripper.pos"
],
"shape": [
14
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
540,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 540,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
540,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 540,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
540,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 540,
"video.width": 960,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"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
数据文件路径：data/*/*.parquet
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
<a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Gongsta/e7-tshirt-folding">点击此处可可视化本数据集</a>，并配有明暗主题两种官方可视化徽章。
## 数据集描述
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **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": "bi_dk1_follower",
"总轨迹数": 105,
"总帧数": 143126,
"总任务数": 1,
"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": 50,
"数据集划分": {
"训练集": "0:105"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作（action）": {
"数据类型": "float32",
"维度名称": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_gripper.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_gripper.pos",
"left_ee.x",
"left_ee.y",
"left_ee.z",
"left_ee.wx",
"left_ee.wy",
"left_ee.wz",
"left_ee.gripper_pos",
"right_ee.x",
"right_ee.y",
"right_ee.z",
"right_ee.wx",
"right_ee.wy",
"right_ee.wz",
"right_ee.gripper_pos"
],
"形状": [28]
},
"观测数据（observation）.状态": {
"数据类型": "float32",
"维度名称": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_gripper.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_gripper.pos"
],
"形状": [14]
},
"观测数据（observation）.图像.俯视视角": {
"数据类型": "视频（video）",
"形状": [540, 960, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 540,
"视频宽度": 960,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 50,
"视频通道数": 3,
"无音频": false
}
},
"观测数据（observation）.图像.右腕相机": {
"数据类型": "视频（video）",
"形状": [540, 960, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 540,
"视频宽度": 960,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 50,
"视频通道数": 3,
"无音频": false
}
},
"观测数据（observation）.图像.左腕相机": {
"数据类型": "视频（video）",
"形状": [540, 960, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 540,
"视频宽度": 960,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 50,
"视频通道数": 3,
"无音频": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"轨迹索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式引用**：
bibtex
[更多信息待补充]
提供机构：
Gongsta
