TheReverand/so101_binpicking

--- 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": 1, "total_frames": 105, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 7, "splits": { "train": "0:1" }, "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.pi_cam": { "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": 7, "video.channels": 3, "has_audio": false } }, "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": 7, "video.channels": 3, "has_audio": false } }, "observation.images.side": { "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": 7, "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] ```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：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": "so_follower", "总实验回合数": 1, "总采集帧数量": 105, "总任务数量": 1, "分块尺寸": 1000, "数据文件总容量（单位：MB）": 100, "视频文件总容量（单位：MB）": 200, "帧率": 7, "数据集划分方案": { "训练集": "0:1" }, "数据文件路径模板": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径模板": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据字段定义": { "动作指令": { "数据类型": "float32", "维度名称": [ "肩摆关节位置", "肩升关节位置", "肘屈关节位置", "腕屈关节位置", "腕转关节位置", "夹爪位置" ], "形状": [ 6 ] }, "观测状态": { "数据类型": "float32", "维度名称": [ "肩摆关节位置", "肩升关节位置", "肘屈关节位置", "腕屈关节位置", "腕转关节位置", "夹爪位置" ], "形状": [ 6 ] }, "观测图像.PI摄像头": { "数据类型": "视频", "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": "h264", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 7, "视频通道数": 3, "是否包含音频": false } }, "观测图像.前置摄像头": { "数据类型": "视频", "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": "h264", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 7, "视频通道数": 3, "是否包含音频": false } }, "观测图像.侧置摄像头": { "数据类型": "视频", "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": "h264", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 7, "视频通道数": 3, "是否包含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "实验回合索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局数据索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX格式引用**： bibtex [需补充更多信息]