Ishah8840/so101_pouring

---
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=Ishah8840/so101_pouring">
<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": "so101",
"total_episodes": 60,
"total_frames": 9600,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:60"
},
"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.front": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
},
"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）
配置项:
- 配置名称: 默认配置
数据文件路径: data/*/*.parquet
---

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Ishah8840/so101_pouring">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg" alt="可视化本数据集"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg" alt="可视化本数据集（暗色模式）"/>
</a>

## 数据集说明

- **项目主页：** [需补充更多信息]
- **相关论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构

[meta/info.json]:
json
{
"代码库版本": "v3.0",
"机器人型号": "so101",
"总轨迹数": 60,
"总帧数": 9600,
"总任务数": 1,
"数据块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 10,
"数据集划分": {
"训练集": "0:60"
},
"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",
"数据特征": {
"观测数据.前视摄像头图像": {
"数据类型": "图像",
"形状": [
240,
320,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测数据.腕部摄像头图像": {
"数据类型": "图像",
"形状": [
240,
320,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
]
},
"观测数据.关节状态": {
"数据类型": "float32",
"形状": [
6
],
"维度名称": [
"关节1",
"关节2",
"关节3",
"关节4",
"关节5",
"关节6"
]
},
"动作数据": {
"数据类型": "float32",
"形状": [
6
],
"维度名称": [
"关节1",
"关节2",
"关节3",
"关节4",
"关节5",
"关节6"
]
},
"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
},
"轨迹索引": {
"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
}
}
}

## 引用格式

**BibTeX引用：**
bibtex
[需补充更多信息]