Rick0331/categorize_tableware17
收藏Hugging Face2026-04-20 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/Rick0331/categorize_tableware17
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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=Rick0331/categorize_tableware17">
<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": "openarm_follower",
"total_episodes": 50,
"total_frames": 55497,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": [
24
],
"names": [
"joint_1.pos",
"joint_1.vel",
"joint_1.torque",
"joint_2.pos",
"joint_2.vel",
"joint_2.torque",
"joint_3.pos",
"joint_3.vel",
"joint_3.torque",
"joint_4.pos",
"joint_4.vel",
"joint_4.torque",
"joint_5.pos",
"joint_5.vel",
"joint_5.torque",
"joint_6.pos",
"joint_6.vel",
"joint_6.torque",
"joint_7.pos",
"joint_7.vel",
"joint_7.torque",
"gripper.pos",
"gripper.vel",
"gripper.torque"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
24
],
"names": [
"joint_1.pos",
"joint_1.vel",
"joint_1.torque",
"joint_2.pos",
"joint_2.vel",
"joint_2.torque",
"joint_3.pos",
"joint_3.vel",
"joint_3.torque",
"joint_4.pos",
"joint_4.vel",
"joint_4.torque",
"joint_5.pos",
"joint_5.vel",
"joint_5.torque",
"joint_6.pos",
"joint_6.vel",
"joint_6.torque",
"joint_7.pos",
"joint_7.vel",
"joint_7.torque",
"gripper.pos",
"gripper.vel",
"gripper.torque"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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]
```
许可证: 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
本数据集通过[LeRobot](https://github.com/huggingface/lerobot)构建。
可通过[可视化本数据集](https://huggingface.co/spaces/lerobot/visualize_dataset?path=Rick0331/categorize_tableware17)查看数据集内容（适配亮色与暗色模式的可视化徽章如下）。
## 数据集说明
- **主页**: [更多信息待补充]
- **论文**: [更多信息待补充]
- **许可证**: apache-2.0
## 数据集结构
元数据文件`meta/info.json`内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "openarm_follower",
"总回合数": 50,
"总帧数": 55497,
"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": 30,
"数据集划分": {
"训练集": "0:50"
},
"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": {
"数据类型": "float32",
"形状": [24],
"字段名称": [
"关节1位置",
"关节1速度",
"关节1力矩",
"关节2位置",
"关节2速度",
"关节2力矩",
"关节3位置",
"关节3速度",
"关节3力矩",
"关节4位置",
"关节4速度",
"关节4力矩",
"关节5位置",
"关节5速度",
"关节5力矩",
"关节6位置",
"关节6速度",
"关节6力矩",
"关节7位置",
"关节7速度",
"关节7力矩",
"夹爪位置",
"夹爪速度",
"夹爪力矩"
]
},
"观测状态": {
"数据类型": "float32",
"形状": [24],
"字段名称": [
"关节1位置",
"关节1速度",
"关节1力矩",
"关节2位置",
"关节2速度",
"关节2力矩",
"关节3位置",
"关节3速度",
"关节3力矩",
"关节4位置",
"关节4速度",
"关节4力矩",
"关节5位置",
"关节5速度",
"关节5力矩",
"关节6位置",
"关节6速度",
"关节6力矩",
"关节7位置",
"关节7速度",
"关节7力矩",
"夹爪位置",
"夹爪速度",
"夹爪力矩"
]
},
"顶部观测图像": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"腕部观测图像": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}
## 引用
**BibTeX格式**:
bibtex
[更多信息待补充]
提供机构：
Rick0331
