aaawangge/so101_pen

--- 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": "so101_follower", "total_episodes": 126, "total_frames": 74674, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:126" }, "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.handeye": { "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.fixed": { "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 } }, "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 task_categories: - 机器人学（robotics） tags: - LeRobot（LeRobot） configs: - config_name: default data_files: data/*/*.parquet --- 本数据集依托[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 文件[meta/info.json](meta/info.json)包含如下元配置： json { "代码库版本": "v3.0", "机器人型号": "so101_follower", "总轨迹数": 126, "总帧数": 74674, "总任务数": 2, "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": "0:126" }, "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（action）": { "数据类型": "32位浮点型", "特征名称": [ "肩平转关节位置（shoulder_pan.pos）", "肩升降关节位置（shoulder_lift.pos）", "肘关节屈曲位置（elbow_flex.pos）", "腕关节屈曲位置（wrist_flex.pos）", "腕关节滚转位置（wrist_roll.pos）", "夹爪位置（gripper.pos）" ], "形状": [6] }, "观测状态（observation.state）": { "数据类型": "32位浮点型", "特征名称": [ "肩平转关节位置（shoulder_pan.pos）", "肩升降关节位置（shoulder_lift.pos）", "肘关节屈曲位置（elbow_flex.pos）", "腕关节屈曲位置（wrist_flex.pos）", "腕关节滚转位置（wrist_roll.pos）", "夹爪位置（gripper.pos）" ], "形状": [6] }, "观测图像-手眼相机（observation.images.handeye）": { "数据类型": "视频（video）", "形状": [480, 640, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "观测图像-固定相机（observation.images.fixed）": { "数据类型": "视频（video）", "形状": [480, 640, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "时间戳（timestamp）": { "数据类型": "32位浮点型", "形状": [1], "特征名称": "无" }, "帧索引（frame_index）": { "数据类型": "64位整型", "形状": [1], "特征名称": "无" }, "轨迹索引（episode_index）": { "数据类型": "64位整型", "形状": [1], "特征名称": "无" }, "全局索引（index）": { "数据类型": "64位整型", "形状": [1], "特征名称": "无" }, "任务索引（task_index）": { "数据类型": "64位整型", "形状": [1], "特征名称": "无" } } } ## 引用 **BibTeX格式**： bibtex [需补充更多信息]