gaozj/logu_bimanual_joint_multi_task
收藏Hugging Face2026-03-23 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/gaozj/logu_bimanual_joint_multi_task
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- teleop
- bimanual
- joint-space
- multi-task
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": null,
"total_episodes": 212,
"total_frames": 101703,
"total_tasks": 2,
"total_videos": 636,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:212"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.left_wrist_image": {
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"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.right_wrist_image": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.image_video": {
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"shape": [
224,
224,
3
],
"info": {
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"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist_image_video": {
"dtype": "video",
"shape": [
224,
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3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist_image_video": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_joint_7",
"left_gripper",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_joint_7",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_djoint_1",
"left_djoint_2",
"left_djoint_3",
"left_djoint_4",
"left_djoint_5",
"left_djoint_6",
"left_djoint_7",
"left_gripper",
"right_djoint_1",
"right_djoint_2",
"right_djoint_3",
"right_djoint_4",
"right_djoint_5",
"right_djoint_6",
"right_djoint_7",
"right_gripper"
]
},
"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]
```
license: Apache-2.0
任务类别:
- 机器人学（robotics）
标签:
- LeRobot
- 遥操作（teleop）
- 双臂操作（bimanual）
- 关节空间（joint-space）
- 多任务（multi-task）
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。
## 数据集描述
- **主页:** [更多信息待补充]
- **论文:** [更多信息待补充]
- **许可证:** Apache-2.0
## 数据集结构
`meta/info.json`:
json
{
"代码库版本": "v2.1",
"机器人类型": null,
"总回合数": 212,
"总帧数": 101703,
"总任务数": 2,
"总视频数": 636,
"总块数": 1,
"块大小": 1000,
"帧率": 20,
"数据划分": {
"训练集": "0:212"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测.图像.主相机": {
"数据类型": "image",
"形状": [
224,
224,
3
],
"维度名称": [
"height",
"width",
"channel"
]
},
"观测.图像.左腕相机": {
"数据类型": "image",
"形状": [
224,
224,
3
],
"维度名称": [
"height",
"width",
"channel"
]
},
"观测.图像.右腕相机": {
"数据类型": "image",
"形状": [
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],
"维度名称": [
"height",
"width",
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]
},
"观测.视频.主相机": {
"数据类型": "video",
"形状": [
224,
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],
"详细信息": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"观测.视频.左腕相机": {
"数据类型": "video",
"形状": [
224,
224,
3
],
"详细信息": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"观测.视频.右腕相机": {
"数据类型": "video",
"形状": [
224,
224,
3
],
"详细信息": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_joint_7",
"left_gripper",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_joint_7",
"right_gripper"
]
},
"动作": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"left_djoint_1",
"left_djoint_2",
"left_djoint_3",
"left_djoint_4",
"left_djoint_5",
"left_djoint_6",
"left_djoint_7",
"left_gripper",
"right_djoint_1",
"right_djoint_2",
"right_djoint_3",
"right_djoint_4",
"right_djoint_5",
"right_djoint_6",
"right_djoint_7",
"right_gripper"
]
},
"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:**
bibtex
[更多信息待补充]
提供机构：
gaozj
