ASet97/mirror-test
收藏Hugging Face2026-04-09 更新2026-04-12 收录
下载链接：
https://hf-mirror.com/datasets/ASet97/mirror-test
下载链接
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资源简介：
---
license: mit
task_categories:
- robotics
tags:
- LeRobot
- aloha
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** https://tonyzhaozh.github.io/aloha/
- **Paper:** https://arxiv.org/abs/2304.13705
- **License:** mit
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
}
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
@article{Zhao2023LearningFB,
title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
journal={RSS},
year={2023},
volume={abs/2304.13705},
url={https://arxiv.org/abs/2304.13705}
}
```
---
license: MIT
任务类别：
- 机器人学
标签：
- LeRobot
- Aloha
配置：
- 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。
## 数据集说明
- **主页**：https://tonyzhaozh.github.io/aloha/
- **论文**：https://arxiv.org/abs/2304.13705
- **许可证**：MIT
## 数据集结构
`meta/info.json`:
json
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"video_info": {
"video.fps": 50.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [14],
"names": {
"motors": ["left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper"]
}
},
"action": {
"dtype": "float32",
"shape": [14],
"names": {
"motors": ["left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper"]
}
},
"episode_index": {
"dtype": "int64",
"shape": [1],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [1],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [1],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [1],
"names": null
},
"index": {
"dtype": "int64",
"shape": [1],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [1],
"names": null
}
}
}
## 引用
**BibTeX格式：**
bibtex
@article{Zhao2023LearningFB,
title={基于低成本硬件的精细双边操作学习},
author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
journal={RSS},
year={2023},
volume={abs/2304.13705},
url={https://arxiv.org/abs/2304.13705}
}
提供机构：
ASet97
