s-choi/biplay_aloha_dough_cut_dataset_merge_ready_v3
收藏Hugging Face2025-12-08 更新2025-12-20 收录
下载链接：
https://hf-mirror.com/datasets/s-choi/biplay_aloha_dough_cut_dataset_merge_ready_v3
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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": "aloha",
"total_episodes": 750,
"total_frames": 323368,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:750"
},
"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": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_gripper"
]
}
},
"observation.velocity": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_qvel_0",
"left_qvel_1",
"left_qvel_2",
"left_qvel_3",
"left_qvel_4",
"left_qvel_5",
"left_gripper",
"right_qvel_0",
"right_qvel_1",
"right_qvel_2",
"right_qvel_3",
"right_qvel_4",
"right_qvel_5",
"right_gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": {
"motors": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_gripper",
"base_v",
"base_w"
]
}
},
"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
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 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
{
"代码库版本": "v3.0",
"机器人类型": "aloha",
"总回合数": 750,
"总帧数": 323368,
"总任务数": 1,
"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": 50,
"数据集划分": {
"训练集": "0:750"
},
"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": {
"观测数据.图像.顶置摄像头": {
"数据类型": "视频",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 50,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测数据.图像.左腕摄像头": {
"数据类型": "视频",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 50,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测数据.图像.右腕摄像头": {
"数据类型": "视频",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 50,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测数据.关节状态": {
"数据类型": "float32",
"形状": [
14
],
"维度说明": {
"电机关节": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_gripper"
]
}
},
"观测数据.电机速度": {
"数据类型": "float32",
"形状": [
14
],
"维度说明": {
"电机关节速度": [
"left_qvel_0",
"left_qvel_1",
"left_qvel_2",
"left_qvel_3",
"left_qvel_4",
"left_qvel_5",
"left_gripper",
"right_qvel_0",
"right_qvel_1",
"right_qvel_2",
"right_qvel_3",
"right_qvel_4",
"right_qvel_5",
"right_gripper"
]
}
},
"动作数据": {
"数据类型": "float32",
"形状": [
16
],
"维度说明": {
"电机关节": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_gripper",
"base_v",
"base_w"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"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：
s-choi
