JiangHu0/task_0228_1_2

---
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=JiangHu0/task_0228_1_2">
<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": "y1",
"total_episodes": 200,
"total_frames": 102025,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:200"
},
"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": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.flank": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"Tx",
"Ty",
"Tz",
"R11",
"R12",
"R13",
"R21",
"R22",
"R23",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"Tx",
"Ty",
"Tz",
"R11",
"R12",
"R13",
"R21",
"R22",
"R23",
"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]
```

许可证：apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置：
- 配置名称：默认
数据文件：data/*/*.parquet

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

[点击此处可视化本数据集](https://huggingface.co/spaces/lerobot/visualize_dataset?path=JiangHu0/task_0228_1_2)

## 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
文件`meta/info.json`内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "y1",
"总回合数": 200,
"总帧数": 102025,
"总任务数": 1,
"块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 30,
"数据划分": {
"训练集": "0:200"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征项": {
"观测图像.前置摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"字段名": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否含音频": false
}
},
"观测图像.腕部摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"字段名": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否含音频": false
}
},
"观测图像.侧面摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"字段名": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否含音频": false
}
},
"观测状态": {
"数据类型": "float32",
"形状": [
10
],
"字段名": [
"Tx",
"Ty",
"Tz",
"R11",
"R12",
"R13",
"R21",
"R22",
"R23",
"夹爪"
]
},
"动作": {
"数据类型": "float32",
"形状": [
10
],
"字段名": [
"Tx",
"Ty",
"Tz",
"R11",
"R12",
"R13",
"R21",
"R22",
"R23",
"夹爪"
]
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"字段名": "无"
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"字段名": "无"
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"字段名": "无"
},
"索引": {
"数据类型": "int64",
"形状": [
1
],
"字段名": "无"
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"字段名": "无"
}
}
}

## 引用
**BibTeX格式**：
bibtex
[更多信息待补充]