kimz1121/robocasa_spatial_images_pretrain_atomic_CloseCabinet
收藏Hugging Face2026-04-08 更新2026-04-12 收录
下载链接：
https://hf-mirror.com/datasets/kimz1121/robocasa_spatial_images_pretrain_atomic_CloseCabinet
下载链接
链接失效反馈官方服务：
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=kimz1121/robocasa_spatial_images_pretrain_atomic_CloseCabinet">
<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": "PandaOmron",
"total_episodes": 105,
"total_frames": 27754,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:105"
},
"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": [
12
],
"names": [
"base_x",
"base_y",
"base_rot",
"base_torso",
"control_mode",
"ee_x",
"ee_y",
"ee_z",
"ee_rx",
"ee_ry",
"ee_rz",
"gripper_close"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"base_x",
"base_y",
"base_z",
"base_qx",
"base_qy",
"base_qz",
"base_qw",
"ee_rel_x",
"ee_rel_y",
"ee_rel_z",
"ee_rel_qx",
"ee_rel_qy",
"ee_rel_qz",
"ee_rel_qw",
"gripper_left",
"gripper_right"
]
},
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_agentview_right": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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（LeRobot）
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
---
本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_images_pretrain_atomic_CloseCabinet">
<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
- **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
元数据文件`meta/info.json`：
json
{
"代码库版本": "v3.0",
"机器人类型": "PandaOmron（PandaOmron）",
"总回合数": 105,
"总帧数": 27754,
"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": 20,
"数据集划分": {
"训练集": "0:105"
},
"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": [12],
"字段名称": [
"基座X轴",
"基座Y轴",
"基座旋转",
"基座躯干",
"控制模式",
"末端执行器X轴",
"末端执行器Y轴",
"末端执行器Z轴",
"末端执行器滚转",
"末端执行器俯仰",
"末端执行器偏航",
"夹爪闭合度"
]
},
"观测.状态": {
"数据类型": "float32",
"形状": [16],
"字段名称": [
"基座X轴",
"基座Y轴",
"基座Z轴",
"基座四元数X分量",
"基座四元数Y分量",
"基座四元数Z分量",
"基座四元数W分量",
"末端执行器相对X轴",
"末端执行器相对Y轴",
"末端执行器相对Z轴",
"末端执行器相对四元数X分量",
"末端执行器相对四元数Y分量",
"末端执行器相对四元数Z分量",
"末端执行器相对四元数W分量",
"左侧夹爪状态",
"右侧夹爪状态"
]
},
"观测.图像.robot0_agentview_left": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"含音频": false
}
},
"观测.图像.robot0_agentview_right": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"含音频": false
}
},
"观测.图像.robot0_eye_in_hand": {
"数据类型": "视频",
"形状": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"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
[需补充更多信息]
提供机构：
kimz1121
