jpizarrom/hilserl_so100_grocery_so100_2025112221_20

---
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": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 106860,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"delta_x": 0,
"delta_y": 1,
"delta_z": 2,
"delta_wx": 3,
"delta_wy": 4,
"delta_wz": 5,
"gripper": 6
}
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"complementary_info.discrete_penalty": {
"dtype": "float32",
"shape": [
1
],
"names": [
"discrete_penalty"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
3,
128,
128
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
3,
128,
128
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 128,
"video.width": 128,
"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": [
24
],
"names": null
},
"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
数据文件路径：data/*/*.parquet
---

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

## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache 2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": null,
"总回合数": 200,
"总帧数": 106860,
"总任务数": 1,
"分块尺寸": 1000,
"数据文件总容量（单位：兆字节）": 100,
"视频文件总容量（单位：兆字节）": 500,
"帧率": 20,
"数据集划分": {
"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",
"数据特征": {
"动作": {
"数据类型": "float32",
"形状": [7],
"维度命名": {
"x方向位移增量（delta_x）": 0,
"y方向位移增量（delta_y）": 1,
"z方向位移增量（delta_z）": 2,
"x方向角速度增量（delta_wx）": 3,
"y方向角速度增量（delta_wy）": 4,
"z方向角速度增量（delta_wz）": 5,
"夹爪状态（gripper）": 6
}
},
"后续奖励": {
"数据类型": "float32",
"形状": [1],
"维度命名": null
},
"后续终止标记": {
"数据类型": "bool",
"形状": [1],
"维度命名": null
},
"补充信息.离散惩罚项": {
"数据类型": "float32",
"形状": [1],
"维度命名": ["离散惩罚项（discrete_penalty）"]
},
"顶部相机观测图像": {
"数据类型": "video",
"形状": [3, 128, 128],
"维度命名": ["通道数", "高度", "宽度"],
"详细信息": {
"视频高度": 128,
"视频宽度": 128,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频轨道": false
}
},
"腕部相机观测图像": {
"数据类型": "video",
"形状": [3, 128, 128],
"维度命名": ["通道数", "高度", "宽度"],
"详细信息": {
"视频高度": 128,
"视频宽度": 128,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"非深度图": false,
"视频帧率": 20,
"视频通道数": 3,
"无音频轨道": false
}
},
"状态观测": {
"数据类型": "float32",
"形状": [24],
"维度命名": null
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度命名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]