villekuosmanen/rl_pick_stack_block_structured_2
收藏Hugging Face2026-04-16 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/villekuosmanen/rl_pick_stack_block_structured_2
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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=villekuosmanen/rl_pick_stack_block_structured_2">
<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": "arx5",
"total_episodes": 107,
"total_frames": 36560,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:107"
},
"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.pos": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"action.velocity": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"action.effort": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"action.eef_pose": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"observation.state.pos": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"observation.state.velocity": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"observation.state.effort": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"observation.state.eef_pose": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"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：
- 配置名称：default
数据文件路径：data/*/*.parquet
---
本数据集基于LeRobot（LeRobot）框架构建，项目仓库地址：https://github.com/huggingface/lerobot。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=villekuosmanen/rl_pick_stack_block_structured_2">
<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：** 【待补充详细信息】
- **论文：** 【待补充详细信息】
- **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",
"机器人型号": "arx5",
"总回合数": 107,
"总帧数": 36560,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（兆字节）": 100,
"视频文件总大小（兆字节）": 200,
"帧率": 20,
"数据集划分": {
"训练集": "0:107"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作.关节位置": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"动作.关节速度": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"动作.关节受力": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"动作.末端执行器位姿": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"观测.状态.关节位置": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"观测.状态.关节速度": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"观测.状态.关节受力": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"观测.状态.末端执行器位姿": {
"数据类型": "float32",
"关节名称": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"形状": [7]
},
"观测.图像.前置摄像头": {
"数据类型": "视频",
"形状": [480, 640, 3],
"维度名称": ["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": "h264",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 20,
"通道数": 3,
"是否包含音频": false
}
},
"观测.图像.腕部摄像头": {
"数据类型": "视频",
"形状": [480, 640, 3],
"维度名称": ["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": "h264",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 20,
"通道数": 3,
"是否包含音频": false
}
},
"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
【待补充详细信息】
提供机构：
villekuosmanen
