seok7ee/record-test-bimanual03
收藏Hugging Face2026-04-01 更新2026-04-12 收录
下载链接：
https://hf-mirror.com/datasets/seok7ee/record-test-bimanual03
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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": "bi_omx_follower",
"total_episodes": 50,
"total_frames": 19873,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan.pos",
"right_shoulder_pan.pos",
"left_shoulder_lift.pos",
"right_shoulder_lift.pos",
"left_elbow_flex.pos",
"right_elbow_flex.pos",
"left_wrist_flex.pos",
"right_wrist_flex.pos",
"left_wrist_roll.pos",
"right_wrist_roll.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan.pos",
"right_shoulder_pan.pos",
"left_shoulder_lift.pos",
"right_shoulder_lift.pos",
"left_elbow_flex.pos",
"right_elbow_flex.pos",
"left_wrist_flex.pos",
"right_wrist_flex.pos",
"left_wrist_roll.pos",
"right_wrist_roll.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"observation.images.front1": {
"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.front2": {
"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.top": {
"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 (license)：Apache-2.0
任务类别 (task_categories)：
- 机器人学 (robotics)
标签 (tags)：
- LeRobot
配置项 (configs)：
- 配置名称 (config_name)：默认
数据文件 (data_files)：data/*/*.parquet
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集说明 (Dataset Description)
- **主页 (Homepage)：** [需补充更多信息]
- **论文 (Paper)：** [需补充更多信息]
- **许可证 (License)：** Apache-2.0
## 数据集结构 (Dataset Structure)
[meta/info.json](meta/info.json)：
json
{
"代码库版本 (codebase_version)": "v2.1",
"机器人类型 (robot_type)": "bi_omx_follower",
"总回合数 (total_episodes)": 50,
"总帧数 (total_frames)": 19873,
"总任务数 (total_tasks)": 1,
"总视频数 (total_videos)": 150,
"总数据块数 (total_chunks)": 1,
"数据块大小 (chunks_size)": 1000,
"帧率 (fps)": 30,
"数据集划分 (splits)": {
"训练集 (train)": "0:50"
},
"数据路径格式 (data_path)": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式 (video_path)": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征 (features)": {
"动作 (action)": {
"数据类型 (dtype)": "float32",
"形状 (shape)": [
12
],
"字段名称 (names)": [
"left_shoulder_pan.pos",
"right_shoulder_pan.pos",
"left_shoulder_lift.pos",
"right_shoulder_lift.pos",
"left_elbow_flex.pos",
"right_elbow_flex.pos",
"left_wrist_flex.pos",
"right_wrist_flex.pos",
"left_wrist_roll.pos",
"right_wrist_roll.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"观测.状态 (observation.state)": {
"数据类型 (dtype)": "float32",
"形状 (shape)": [
12
],
"字段名称 (names)": [
"left_shoulder_pan.pos",
"right_shoulder_pan.pos",
"left_shoulder_lift.pos",
"right_shoulder_lift.pos",
"left_elbow_flex.pos",
"right_elbow_flex.pos",
"left_wrist_flex.pos",
"right_wrist_flex.pos",
"left_wrist_roll.pos",
"right_wrist_roll.pos",
"left_gripper.pos",
"right_gripper.pos"
]
},
"观测.图像.front1 (observation.images.front1)": {
"数据类型 (dtype)": "视频 (video)",
"形状 (shape)": [
480,
640,
3
],
"维度名称 (names)": [
"高度 (height)",
"宽度 (width)",
"通道数 (channels)"
],
"详细信息 (info)": {
"视频高度 (video.height)": 480,
"视频宽度 (video.width)": 640,
"视频编码格式 (video.codec)": "av1",
"视频像素格式 (video.pix_fmt)": "yuv420p",
"是否为深度图 (video.is_depth_map)": false,
"视频帧率 (video.fps)": 30,
"视频通道数 (video.channels)": 3,
"是否含音频 (has_audio)": false
}
},
"观测.图像.front2 (observation.images.front2)": {
"数据类型 (dtype)": "视频 (video)",
"形状 (shape)": [
480,
640,
3
],
"维度名称 (names)": [
"高度 (height)",
"宽度 (width)",
"通道数 (channels)"
],
"详细信息 (info)": {
"视频高度 (video.height)": 480,
"视频宽度 (video.width)": 640,
"视频编码格式 (video.codec)": "av1",
"视频像素格式 (video.pix_fmt)": "yuv420p",
"是否为深度图 (video.is_depth_map)": false,
"视频帧率 (video.fps)": 30,
"视频通道数 (video.channels)": 3,
"是否含音频 (has_audio)": false
}
},
"观测.图像.top (observation.images.top)": {
"数据类型 (dtype)": "视频 (video)",
"形状 (shape)": [
480,
640,
3
],
"维度名称 (names)": [
"高度 (height)",
"宽度 (width)",
"通道数 (channels)"
],
"详细信息 (info)": {
"视频高度 (video.height)": 480,
"视频宽度 (video.width)": 640,
"视频编码格式 (video.codec)": "av1",
"视频像素格式 (video.pix_fmt)": "yuv420p",
"是否为深度图 (video.is_depth_map)": false,
"视频帧率 (video.fps)": 30,
"视频通道数 (video.channels)": 3,
"是否含音频 (has_audio)": false
}
},
"时间戳 (timestamp)": {
"数据类型 (dtype)": "float32",
"形状 (shape)": [
1
],
"字段名称 (names)": null
},
"帧索引 (frame_index)": {
"数据类型 (dtype)": "int64",
"形状 (shape)": [
1
],
"字段名称 (names)": null
},
"回合索引 (episode_index)": {
"数据类型 (dtype)": "int64",
"形状 (shape)": [
1
],
"字段名称 (names)": null
},
"全局索引 (index)": {
"数据类型 (dtype)": "int64",
"形状 (shape)": [
1
],
"字段名称 (names)": null
},
"任务索引 (task_index)": {
"数据类型 (dtype)": "int64",
"形状 (shape)": [
1
],
"字段名称 (names)": null
}
}
}
## 引用 (Citation)
**BibTeX格式：**
bibtex
[需补充更多信息]
提供机构：
seok7ee
