niklashcs/Coffee_D0_coffee_d0_2026-04-05_10-08-33
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下载链接：
https://hf-mirror.com/datasets/niklashcs/Coffee_D0_coffee_d0_2026-04-05_10-08-33
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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=niklashcs/Coffee_D0_coffee_d0_2026-04-05_10-08-33">
<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": "robomimic",
"total_episodes": 300,
"total_frames": 66775,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:300"
},
"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",
"shape": [
7
],
"names": [
"eef_delta_pos_x",
"eef_delta_pos_y",
"eef_delta_pos_z",
"eef_delta_rot_rx",
"eef_delta_rot_ry",
"eef_delta_rot_rz",
"gripper_action"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": [
"done"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"robot0_eef_pos_0",
"robot0_eef_pos_1",
"robot0_eef_pos_2",
"robot0_eef_quat_0",
"robot0_eef_quat_1",
"robot0_eef_quat_2",
"robot0_eef_quat_3",
"robot0_gripper_qpos_0"
]
},
"observation.state.eef_pos": {
"dtype": "float32",
"shape": [
3
],
"names": [
"robot0_eef_pos_0",
"robot0_eef_pos_1",
"robot0_eef_pos_2"
]
},
"observation.state.eef_quat": {
"dtype": "float32",
"shape": [
4
],
"names": [
"robot0_eef_quat_0",
"robot0_eef_quat_1",
"robot0_eef_quat_2",
"robot0_eef_quat_3"
]
},
"observation.state.gripper_qpos": {
"dtype": "float32",
"shape": [
1
],
"names": [
"robot0_gripper_qpos_0"
]
},
"observation.state.object": {
"dtype": "float32",
"shape": [
57
],
"names": [
"object_0",
"object_1",
"object_2",
"object_3",
"object_4",
"object_5",
"object_6",
"object_7",
"object_8",
"object_9",
"object_10",
"object_11",
"object_12",
"object_13",
"object_14",
"object_15",
"object_16",
"object_17",
"object_18",
"object_19",
"object_20",
"object_21",
"object_22",
"object_23",
"object_24",
"object_25",
"object_26",
"object_27",
"object_28",
"object_29",
"object_30",
"object_31",
"object_32",
"object_33",
"object_34",
"object_35",
"object_36",
"object_37",
"object_38",
"object_39",
"object_40",
"object_41",
"object_42",
"object_43",
"object_44",
"object_45",
"object_46",
"object_47",
"object_48",
"object_49",
"object_50",
"object_51",
"object_52",
"object_53",
"object_54",
"object_55",
"object_56"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]
```
---
license: 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)构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=niklashcs/Coffee_D0_coffee_d0_2026-04-05_10-08-33">
<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](meta/info.json):
json
{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 300,
"total_frames": 66775,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:300"
},
"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",
"shape": [7],
"names": [
"末端执行器X轴增量位置",
"末端执行器Y轴增量位置",
"末端执行器Z轴增量位置",
"末端执行器RX轴增量旋转",
"末端执行器RY轴增量旋转",
"末端执行器RZ轴增量旋转",
"夹爪动作"
]
},
"next.done": {
"dtype": "bool",
"shape": [1],
"names": [
"终止标记"
]
},
"observation.state": {
"dtype": "float32",
"shape": [8],
"names": [
"机器人0末端执行器X轴位置",
"机器人0末端执行器Y轴位置",
"机器人0末端执行器Z轴位置",
"机器人0末端执行器四元数分量0",
"机器人0末端执行器四元数分量1",
"机器人0末端执行器四元数分量2",
"机器人0末端执行器四元数分量3",
"机器人0夹爪关节位置"
]
},
"observation.state.eef_pos": {
"dtype": "float32",
"shape": [3],
"names": [
"机器人0末端执行器X轴位置",
"机器人0末端执行器Y轴位置",
"机器人0末端执行器Z轴位置"
]
},
"observation.state.eef_quat": {
"dtype": "float32",
"shape": [4],
"names": [
"机器人0末端执行器四元数分量0",
"机器人0末端执行器四元数分量1",
"机器人0末端执行器四元数分量2",
"机器人0末端执行器四元数分量3"
]
},
"observation.state.gripper_qpos": {
"dtype": "float32",
"shape": [1],
"names": [
"机器人0夹爪关节位置"
]
},
"observation.state.object": {
"dtype": "float32",
"shape": [57],
"names": [
"物体特征0",
"物体特征1",
"物体特征2",
"物体特征3",
"物体特征4",
"物体特征5",
"物体特征6",
"物体特征7",
"物体特征8",
"物体特征9",
"物体特征10",
"物体特征11",
"物体特征12",
"物体特征13",
"物体特征14",
"物体特征15",
"物体特征16",
"物体特征17",
"物体特征18",
"物体特征19",
"物体特征20",
"物体特征21",
"物体特征22",
"物体特征23",
"物体特征24",
"物体特征25",
"物体特征26",
"物体特征27",
"物体特征28",
"物体特征29",
"物体特征30",
"物体特征31",
"物体特征32",
"物体特征33",
"物体特征34",
"物体特征35",
"物体特征36",
"物体特征37",
"物体特征38",
"物体特征39",
"物体特征40",
"物体特征41",
"物体特征42",
"物体特征43",
"物体特征44",
"物体特征45",
"物体特征46",
"物体特征47",
"物体特征48",
"物体特征49",
"物体特征50",
"物体特征51",
"物体特征52",
"物体特征53",
"物体特征54",
"物体特征55",
"物体特征56"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [84, 84, 3],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [84, 84, 3],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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
}
}
}
## 引用
**BibTeX 格式引用：**
bibtex
[需补充更多信息]
提供机构：
niklashcs
