svla_so100_stacking

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": "so100",
"total_episodes": 56,
"total_frames": 22956,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:56"
},
"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": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
],
"fps": 30
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

本数据集基于[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`文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "so100",
"总回合数": 56,
"总帧数": 22956,
"总任务数": 1,
"分块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:56"
},
"数据路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32（单精度浮点数）",
"形状": [6],
"维度命名": [
"主肩关节偏航",
"主肩关节抬升",
"主肘关节屈伸",
"主腕关节屈伸",
"主腕关节旋转",
"主夹爪"
],
"帧率": 30
},
"观测.状态": {
"数据类型": "float32（单精度浮点数）",
"形状": [6],
"维度命名": [
"主肩关节偏航",
"主肩关节抬升",
"主肘关节屈伸",
"主腕关节屈伸",
"主腕关节旋转",
"主夹爪"
],
"帧率": 30
},
"观测.顶部相机图像": {
"数据类型": "video（视频格式）",
"形状": [480, 640, 3],
"维度命名": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
}
},
"观测.腕部相机图像": {
"数据类型": "video（视频格式）",
"形状": [480, 640, 3],
"维度命名": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频帧率": 30.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"非深度图": false,
"无音频": false
}
},
"时间戳": {
"数据类型": "float32（单精度浮点数）",
"形状": [1],
"维度命名": null,
"帧率": 30
},
"帧索引": {
"数据类型": "int64（64位整数）",
"形状": [1],
"维度命名": null,
"帧率": 30
},
"回合索引": {
"数据类型": "int64（64位整数）",
"形状": [1],
"维度命名": null,
"帧率": 30
},
"全局索引": {
"数据类型": "int64（64位整数）",
"形状": [1],
"维度命名": null,
"帧率": 30
},
"任务索引": {
"数据类型": "int64（64位整数）",
"形状": [1],
"维度命名": null,
"帧率": 30
}
},
"数据文件总容量（MB）": 100,
"视频文件总容量（MB）": 500
}

## 引用
**BibTeX格式引用**：
bibtex
[需补充更多信息]