ruanafan/pnp_0413
收藏Hugging Face2026-04-13 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/ruanafan/pnp_0413
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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": "v2.1",
"robot_type": "umi_bimanual",
"total_episodes": 160,
"total_frames": 123728,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:160"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_rotvec_x",
"robot0_eef_rotvec_y",
"robot0_eef_rotvec_z",
"robot0_gripper",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_rotvec_x",
"robot1_eef_rotvec_y",
"robot1_eef_rotvec_z",
"robot1_gripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_rotvec_x",
"robot0_eef_rotvec_y",
"robot0_eef_rotvec_z",
"robot0_gripper",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_rotvec_x",
"robot1_eef_rotvec_y",
"robot1_eef_rotvec_z",
"robot1_gripper"
]
]
},
"observation.images.camera0": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.camera1": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"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
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集说明
- **主页**：[待补充更多信息]
- **相关论文**：[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
{
"codebase_version": "v2.1",
"robot_type": "umi_bimanual",
"total_episodes": 160,
"total_frames": 123728,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:160"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [14],
"names": [
[
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_rotvec_x",
"robot0_eef_rotvec_y",
"robot0_eef_rotvec_z",
"robot0_gripper",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_rotvec_x",
"robot1_eef_rotvec_y",
"robot1_eef_rotvec_z",
"robot1_gripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [14],
"names": [
[
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_rotvec_x",
"robot0_eef_rotvec_y",
"robot0_eef_rotvec_z",
"robot0_gripper",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_rotvec_x",
"robot1_eef_rotvec_y",
"robot1_eef_rotvec_z",
"robot1_gripper"
]
]
},
"observation.images.camera0": {
"dtype": "image",
"shape": [3, 224, 224],
"names": ["channels", "height", "width"]
},
"observation.images.camera1": {
"dtype": "image",
"shape": [3, 224, 224],
"names": ["channels", "height", "width"]
},
"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
}
}
}
## 引用
**BibTeX格式引用：**
bibtex
[待补充更多信息]
提供机构：
ruanafan
