droid_1.0.1
收藏魔搭社区2026-05-21 更新2025-11-03 收录
下载链接：
https://modelscope.cn/datasets/lerobot/droid_1.0.1
下载链接
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资源简介：
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": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:95658"
},
"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": {
"is_first": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_last": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"language_instruction_2": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"language_instruction_3": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state.gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": {
"axes": [
"gripper"
]
}
},
"observation.state.cartesian_position": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"observation.state.joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 180,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.exterior_1_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 180,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.exterior_2_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 180,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"action.gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": {
"axes": [
"gripper"
]
}
},
"action.gripper_velocity": {
"dtype": "float32",
"shape": [
1
],
"names": {
"axes": [
"gripper"
]
}
},
"action.cartesian_position": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"action.cartesian_velocity": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"action.joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"action.joint_velocity": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"action.original": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
}
},
"discount": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"task_category": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"building": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"collector_id": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"date": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"camera_extrinsics.wrist_left": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"camera_extrinsics.exterior_1_left": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"camera_extrinsics.exterior_2_left": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"is_episode_successful": {
"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
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
本数据集基于 [LeRobot](https://github.com/huggingface/lerobot) 构建。
## 数据集说明
- **官方主页**：[需补充更多信息]
- **相关论文**：[需补充更多信息]
- **授权协议**：Apache-2.0
## 数据集结构
元数据文件 `meta/info.json` 内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "Franka",
"总回合数": 95617,
"总帧数": 27618651,
"总任务数": 49611,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 500,
"帧率": 15,
"数据集划分": {
"训练集": "0:95617"
},
"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",
"特征项": {
"起始标记": {
"数据类型": "bool",
"形状": [1],
"轴命名": null
},
"结束标记": {
"数据类型": "bool",
"形状": [1],
"轴命名": null
},
"终止标记": {
"数据类型": "bool",
"形状": [1],
"轴命名": null
},
"语言指令": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"语言指令_2": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"语言指令_3": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"观测.状态.夹持器位置": {
"数据类型": "float32",
"形状": [1],
"轴命名": {
"轴列表": ["夹持器"]
}
},
"观测.状态.笛卡尔位姿": {
"数据类型": "float32",
"形状": [6],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角"]
}
},
"观测.状态.关节角度": {
"数据类型": "float32",
"形状": [7],
"轴命名": {
"轴列表": ["关节_0", "关节_1", "关节_2", "关节_3", "关节_4", "关节_5", "关节_6"]
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"轴命名": {
"轴列表": ["关节_0", "关节_1", "关节_2", "关节_3", "关节_4", "关节_5", "关节_6", "夹持器"]
}
},
"观测.图像.左腕相机": {
"数据类型": "video",
"形状": [180, 320, 3],
"轴命名": ["高度", "宽度", "通道数"],
"附加信息": {
"视频帧率": 15.0,
"视频高度": 180,
"视频宽度": 320,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频轨道": false
}
},
"观测.图像.左侧外景1": {
"数据类型": "video",
"形状": [180, 320, 3],
"轴命名": ["高度", "宽度", "通道数"],
"附加信息": {
"视频帧率": 15.0,
"视频高度": 180,
"视频宽度": 320,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频轨道": false
}
},
"观测.图像.左侧外景2": {
"数据类型": "video",
"形状": [180, 320, 3],
"轴命名": ["高度", "宽度", "通道数"],
"附加信息": {
"视频帧率": 15.0,
"视频高度": 180,
"视频宽度": 320,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频轨道": false
}
},
"动作.夹持器位置": {
"数据类型": "float32",
"形状": [1],
"轴命名": {
"轴列表": ["夹持器"]
}
},
"动作.夹持器速度": {
"数据类型": "float32",
"形状": [1],
"轴命名": {
"轴列表": ["夹持器"]
}
},
"动作.笛卡尔位姿": {
"数据类型": "float32",
"形状": [6],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角"]
}
},
"动作.笛卡尔速度": {
"数据类型": "float32",
"形状": [6],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角"]
}
},
"动作.关节角度": {
"数据类型": "float32",
"形状": [7],
"轴命名": {
"轴列表": ["关节_0", "关节_1", "关节_2", "关节_3", "关节_4", "关节_5", "关节_6"]
}
},
"动作.关节速度": {
"数据类型": "float32",
"形状": [7],
"轴命名": {
"轴列表": ["关节_0", "关节_1", "关节_2", "关节_3", "关节_4", "关节_5", "关节_6"]
}
},
"动作.原始数据": {
"数据类型": "float32",
"形状": [7],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角", "夹持器"]
}
},
"动作": {
"数据类型": "float32",
"形状": [8],
"轴命名": {
"轴列表": ["关节_0", "关节_1", "关节_2", "关节_3", "关节_4", "关节_5", "关节_6", "夹持器"]
}
},
"折扣因子": {
"数据类型": "float32",
"形状": [1],
"轴命名": null
},
"奖励": {
"数据类型": "float32",
"形状": [1],
"轴命名": null
},
"任务类别": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"采集场地": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"采集者ID": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"采集日期": {
"数据类型": "string",
"形状": [1],
"轴命名": null
},
"相机外参.左腕相机": {
"数据类型": "float32",
"形状": [6],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角"]
}
},
"相机外参.左侧外景1": {
"数据类型": "float32",
"形状": [6],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角"]
}
},
"相机外参.左侧外景2": {
"数据类型": "float32",
"形状": [6],
"轴命名": {
"轴列表": ["x", "y", "z", "滚转角", "俯仰角", "偏航角"]
}
},
"回合成功标记": {
"数据类型": "bool",
"形状": [1],
"轴命名": null
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"轴命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"轴命名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"轴命名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"轴命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"轴命名": null
}
}
}
## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]
提供机构：
maas
创建时间：
2025-09-16
