KS325/open-uper-drawer-emp

--- 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": "so_follower", "total_episodes": 20, "total_frames": 17666, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:20" }, "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", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.state": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.images.camera1": { "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.camera2": { "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] ```--- license: Apache 2.0 许可证 task_categories: - 机器人学 tags: - LeRobot configs: - config_name: 默认配置 data_files: data/*/*.parquet --- 本数据集基于 [LeRobot（LeRobot）](https://github.com/huggingface/lerobot) 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": "so_follower", "总回合数": 20, "总帧数": 17666, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 30, "数据集划分": { "训练集": "0:20" }, "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": { "动作": { "数据类型": "float32（单精度浮点数）", "关节名称": [ "shoulder_pan.pos（肩盘位置）", "shoulder_lift.pos（肩升位置）", "elbow_flex.pos（肘屈位置）", "wrist_flex.pos（腕屈位置）", "wrist_roll.pos（腕滚位置）", "gripper.pos（夹爪位置）" ], "数据形状": [6] }, "观测.状态": { "数据类型": "float32（单精度浮点数）", "关节名称": [ "shoulder_pan.pos（肩盘位置）", "shoulder_lift.pos（肩升位置）", "elbow_flex.pos（肘屈位置）", "wrist_flex.pos（腕屈位置）", "wrist_roll.pos（腕滚位置）", "gripper.pos（夹爪位置）" ], "数据形状": [6] }, "观测.图像.相机1": { "数据类型": "video（视频）", "数据形状": [480, 640, 3], "维度说明": ["高度", "宽度", "通道数"], "视频信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "通道数": 3, "是否包含音频": false } }, "观测.图像.相机2": { "数据类型": "video（视频）", "数据形状": [480, 640, 3], "维度说明": ["高度", "宽度", "通道数"], "视频信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "通道数": 3, "是否包含音频": false } }, "时间戳": { "数据类型": "float32（单精度浮点数）", "数据形状": [1], "维度名称": null }, "帧索引": { "数据类型": "int64（64位整数）", "数据形状": [1], "维度名称": null }, "回合索引": { "数据类型": "int64（64位整数）", "数据形状": [1], "维度名称": null }, "全局索引": { "数据类型": "int64（64位整数）", "数据形状": [1], "维度名称": null }, "任务索引": { "数据类型": "int64（64位整数）", "数据形状": [1], "维度名称": null } } } ## 引用 **BibTeX格式引用：** bibtex [需补充更多信息]