lerobot/robocasa_target_human_unified
收藏Hugging Face2026-04-16 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/lerobot/robocasa_target_human_unified
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- robocasa
- unified
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=pepijn223/robocasa_target_human_unified_v3">
<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": "robocasa",
"total_episodes": 25307,
"total_frames": 14957899,
"total_tasks": 50,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:25307"
},
"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.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 20,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"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",
"channel"
],
"video_info": {
"video.fps": 20,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"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",
"channel"
],
"video_info": {
"video.fps": 20,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"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
}
},
"action": {
"dtype": "float32",
"shape": [
12
],
"fps": 20
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
"state_5",
"state_6",
"state_7",
"state_8",
"state_9",
"state_10",
"state_11",
"state_12",
"state_13",
"state_14",
"state_15"
],
"fps": 20
},
"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、robocasa、统一化
配置项：
- 配置名称：默认
数据文件路径：data/*/*.parquet
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)框架构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=pepijn223/robocasa_target_human_unified_v3">
<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：** [待补充更多信息]
- **论文：** [待补充更多信息]
- **许可证：** Apache-2.0
## 数据集结构
元数据文件`meta/info.json`内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "robocasa",
"总回合数": 25307,
"总帧数": 14957899,
"总任务数": 50,
"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": "0:25307"
},
"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",
"特征项": {
"观测.图像.机器人0代理左视角": {
"数据类型": "视频",
"尺寸": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 20,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
},
"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",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频": false
}
},
"观测.图像.机器人0代理右视角": {
"数据类型": "视频",
"尺寸": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 20,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
},
"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",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频": false
}
},
"观测.图像.机器人0手部视角": {
"数据类型": "视频",
"尺寸": [256, 256, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频帧率": 20,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
},
"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",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频": false
}
},
"动作": {
"数据类型": "float32",
"尺寸": [12],
"帧率": 20
},
"观测.状态": {
"数据类型": "float32",
"尺寸": [16],
"维度名称": ["state_0", "state_1", "state_2", "state_3", "state_4", "state_5", "state_6", "state_7", "state_8", "state_9", "state_10", "state_11", "state_12", "state_13", "state_14", "state_15"],
"帧率": 20
},
"时间戳": {
"数据类型": "float32",
"尺寸": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"尺寸": [1],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"尺寸": [1],
"维度名称": null
},
"索引": {
"数据类型": "int64",
"尺寸": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"尺寸": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式引用：**
bibtex
[待补充更多信息]
提供机构：
lerobot
