rainbowrobotics/simtos_sort_30_31_merged-no-torso
收藏Hugging Face2026-04-16 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/rainbowrobotics/simtos_sort_30_31_merged-no-torso
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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=rainbowrobotics/simtos_sort_30_31_merged-no-torso">
<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": "rby1",
"total_episodes": 222,
"total_frames": 287545,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:222"
},
"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": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
]
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
许可证: apache-2.0
任务类别:
- robotics
标签:
- LeRobot
配置项:
- config_name: default
data_files: data/*/*.parquet
---
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=rainbowrobotics/simtos_sort_30_31_merged-no-torso">
<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>
## 数据集说明
- **项目主页:** [暂未提供更多信息]
- **相关论文:** [暂未提供更多信息]
- **许可证:** apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "rby1",
"总回合数": 222,
"总帧数": 287545,
"总任务数": 2,
"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(fps)": 15,
"数据集划分": {
"训练集": "0:222"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "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": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"形状": [
16
]
},
"前视图像观测(observation.images.front)": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"右视图像观测(observation.images.right)": {
"数据类型": "video",
"形状": [
640,
480,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"左视图像观测(observation.images.left)": {
"数据类型": "video",
"形状": [
640,
480,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": 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
},
"回合索引(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
},
"关节状态观测(observation.state)": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
]
}
}
}
## 引用
**BibTeX:**
bibtex
[暂未提供更多信息]
提供机构：
rainbowrobotics
