Kaz55/longhorizontasktestmanusv9
收藏Hugging Face2026-03-16 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/Kaz55/longhorizontasktestmanusv9
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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": "dg5f",
"total_episodes": 30,
"total_frames": 161170,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:30"
},
"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": [
22
],
"names": [
"dg5f_0.pos",
"dg5f_1.pos",
"dg5f_2.pos",
"dg5f_3.pos",
"dg5f_4.pos",
"dg5f_5.pos",
"dg5f_6.pos",
"dg5f_7.pos",
"dg5f_8.pos",
"dg5f_9.pos",
"dg5f_10.pos",
"dg5f_11.pos",
"dg5f_12.pos",
"dg5f_13.pos",
"dg5f_14.pos",
"dg5f_15.pos",
"dg5f_16.pos",
"dg5f_17.pos",
"dg5f_18.pos",
"dg5f_19.pos",
"dg5f_20.pos",
"dg5f_21.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"dg5f_0.pos",
"dg5f_1.pos",
"dg5f_2.pos",
"dg5f_3.pos",
"dg5f_4.pos",
"dg5f_5.pos",
"dg5f_6.pos",
"dg5f_7.pos",
"dg5f_8.pos",
"dg5f_9.pos",
"dg5f_10.pos",
"dg5f_11.pos",
"dg5f_12.pos",
"dg5f_13.pos",
"dg5f_14.pos",
"dg5f_15.pos",
"dg5f_16.pos",
"dg5f_17.pos",
"dg5f_18.pos",
"dg5f_19.pos"
]
},
"observation.images.gelsight1": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.gelsight2": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.realsense": {
"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": 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（LeRobot）
配置项：
- 配置名称：default
数据文件路径：data/*/*.parquet
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)（LeRobot）开发构建。
## 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
文件`meta/info.json`内容如下：
json
{
"代码库版本": "v3.0",
"机器人型号": "dg5f",
"总轨迹数": 30,
"总帧数": 161170,
"总任务数": 3,
"数据分块大小": 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": "0:30"
},
"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",
"形状": [22],
"字段名称": ["dg5f_0.pos", "dg5f_1.pos", "dg5f_2.pos", "dg5f_3.pos", "dg5f_4.pos", "dg5f_5.pos", "dg5f_6.pos", "dg5f_7.pos", "dg5f_8.pos", "dg5f_9.pos", "dg5f_10.pos", "dg5f_11.pos", "dg5f_12.pos", "dg5f_13.pos", "dg5f_14.pos", "dg5f_15.pos", "dg5f_16.pos", "dg5f_17.pos", "dg5f_18.pos", "dg5f_19.pos", "dg5f_20.pos", "dg5f_21.pos"]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"形状": [20],
"字段名称": ["dg5f_0.pos", "dg5f_1.pos", "dg5f_2.pos", "dg5f_3.pos", "dg5f_4.pos", "dg5f_5.pos", "dg5f_6.pos", "dg5f_7.pos", "dg5f_8.pos", "dg5f_9.pos", "dg5f_10.pos", "dg5f_11.pos", "dg5f_12.pos", "dg5f_13.pos", "dg5f_14.pos", "dg5f_15.pos", "dg5f_16.pos", "dg5f_17.pos", "dg5f_18.pos", "dg5f_19.pos"]
},
"观测图像.gelsight1（observation.images.gelsight1）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"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": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.gelsight2（observation.images.gelsight2）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"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": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.realsense（observation.images.realsense）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"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": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"轨迹索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}
## 引用
**BibTeX格式引用**：
[需补充更多信息]
提供机构：
Kaz55
