yaak-ai/behavior1k-task0010
收藏Hugging Face2025-11-27 更新2025-12-20 收录
下载链接：
https://hf-mirror.com/datasets/yaak-ai/behavior1k-task0010
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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).
## 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": "R1Pro",
"total_episodes": 200,
"total_frames": 1253243,
"total_tasks": 1,
"chunks_size": 10000,
"fps": 30,
"splits": {
"train": "0:10000"
},
"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",
"metainfo_path": "meta/episodes/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
"annotation_path": "annotations/task-{episode_chunk:04d}/episode_{episode_index:08d}.json",
"features": {
"observation.images.rgb.left_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rgb.right_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.rgb.head": {
"dtype": "video",
"shape": [
720,
720,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 720,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.depth.left_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"depth"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p16le",
"video.is_depth_map": true,
"has_audio": false
}
},
"observation.images.depth.right_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"depth"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p16le",
"video.is_depth_map": true,
"has_audio": false
}
},
"observation.images.depth.head": {
"dtype": "video",
"shape": [
720,
720,
3
],
"names": [
"height",
"width",
"depth"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 720,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p16le",
"video.is_depth_map": true,
"has_audio": false
}
},
"observation.images.seg_instance_id.left_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.seg_instance_id.right_wrist": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 480,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.seg_instance_id.head": {
"dtype": "video",
"shape": [
720,
720,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 720,
"video.channels": 3,
"video.codec": "libx265",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": null,
"fps": 30
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"observation.cam_rel_poses": {
"dtype": "float32",
"shape": [
21
],
"names": null,
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
256
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"total_videos": 1800
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
提供机构：
yaak-ai
