sriramsk/plate_bin_multiview_20251210
收藏Hugging Face2025-12-10 更新2025-12-20 收录
下载链接：
https://hf-mirror.com/datasets/sriramsk/plate_bin_multiview_20251210
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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": "v2.1",
"robot_type": "aloha",
"total_episodes": 20,
"total_frames": 10970,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
18
],
"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
"left_elbow",
"left_elbow_shadow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"left_waist",
"left_shoulder",
"left_shoulder_shadow",
"left_elbow",
"left_elbow_shadow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_shoulder_shadow",
"right_elbow",
"right_elbow_shadow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"observation.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"action.right_eef_pose": {
"dtype": "float32",
"shape": [
10
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"gripper_articulation"
]
},
"observation.images.cam_azure_kinect_back.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_back.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"observation.images.cam_azure_kinect_front.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_front.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "RGB color image"
},
"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]
```
---
许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置项：
- 配置名称：默认（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**：[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
{
"代码库版本": "v2.1",
"机器人类型": "aloha",
"总回合数": 20,
"总帧数": 10970,
"总任务数": 1,
"总视频数": 100,
"总分块数": 1,
"分块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:20"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征字段": {
"动作（action）": {
"数据类型": "float32",
"形状": [18],
"维度名称": ["左腰关节", "左肩关节", "左肩关节阴影", "左肘关节", "左肘关节阴影", "左前臂旋转", "左腕关节角度", "左腕关节旋转", "左夹爪", "右腰关节", "右肩关节", "右肩关节阴影", "右肘关节", "右肘关节阴影", "右前臂旋转", "右腕关节角度", "右腕关节旋转", "右夹爪"]
},
"观测数据.关节状态（observation.state）": {
"数据类型": "float32",
"形状": [18],
"维度名称": ["左腰关节", "左肩关节", "左肩关节阴影", "左肘关节", "左肘关节阴影", "左前臂旋转", "左腕关节角度", "左腕关节旋转", "左夹爪", "右腰关节", "右肩关节", "右肩关节阴影", "右肘关节", "右肘关节阴影", "右前臂旋转", "右腕关节角度", "右腕关节旋转", "右夹爪"]
},
"观测数据.右末端执行器位姿（observation.right_eef_pose）": {
"数据类型": "float32",
"形状": [10],
"维度名称": ["rot_6d_0", "rot_6d_1", "rot_6d_2", "rot_6d_3", "rot_6d_4", "rot_6d_5", "trans_0", "trans_1", "trans_2", "gripper_articulation"]
},
"动作.右末端执行器位姿（action.right_eef_pose）": {
"数据类型": "float32",
"形状": [10],
"维度名称": ["rot_6d_0", "rot_6d_1", "rot_6d_2", "rot_6d_3", "rot_6d_4", "rot_6d_5", "trans_0", "trans_1", "trans_2", "gripper_articulation"]
},
"观测数据.图像.后置Azure Kinect摄像头.变换深度图（observation.images.cam_azure_kinect_back.transformed_depth）": {
"数据类型": "视频",
"形状": [720, 1280, 1],
"维度名称": ["height", "width", "channels"],
"说明": "与彩色图像对齐的变换深度图像"
},
"观测数据.图像.后置Azure Kinect摄像头.彩色图像（observation.images.cam_azure_kinect_back.color）": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度名称": ["height", "width", "channels"],
"说明": "原始彩色图像"
},
"观测数据.图像.前置Azure Kinect摄像头.变换深度图（observation.images.cam_azure_kinect_front.transformed_depth）": {
"数据类型": "视频",
"形状": [720, 1280, 1],
"维度名称": ["height", "width", "channels"],
"说明": "与彩色图像对齐的变换深度图像"
},
"观测数据.图像.前置Azure Kinect摄像头.彩色图像（observation.images.cam_azure_kinect_front.color）": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度名称": ["height", "width", "channels"],
"说明": "原始彩色图像"
},
"观测数据.图像.腕部摄像头（observation.images.cam_wrist）": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度名称": ["height", "width", "channels"],
"说明": "RGB彩色图像"
},
"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
},
"样本索引（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
}
}
}
## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]
提供机构：
sriramsk
