uofrobotics/eval_so101_block_picking_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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=uofrobotics/eval_so101_block_picking_20"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": 1692, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "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.cam_3rd_person": { "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.cam_1st_person": { "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] ```--- 许可证：Apache-2.0 任务类别： - 机器人学 (robotics) 标签： - LeRobot (LeRobot) 配置项： - 配置名称：默认 (default) 数据文件：data/*/*.parquet (parquet) --- 本数据集基于[LeRobot (LeRobot)](https://github.com/huggingface/lerobot)开发构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=uofrobotics/eval_so101_block_picking_20"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集描述 - **主页：** [更多信息待补充] - **论文：** [更多信息待补充] - **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", "总回合数": 1, "总帧数": 1692, "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（fps）": 30, "数据集划分": { "训练集": "0:1" }, "数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet (parquet)", "视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 (mp4)", "特征字段": { "动作（action）": { "数据类型（dtype）": "float32 (float32)", "字段名（names）": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "形状（shape）": [ 6 ] }, "观测.状态（observation.state）": { "数据类型（dtype）": "float32 (float32)", "字段名（names）": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "形状（shape）": [ 6 ] }, "观测.图像.第三人称摄像头（observation.images.cam_3rd_person）": { "数据类型（dtype）": "video", "形状（shape）": [ 480, 640, 3 ], "字段名（names）": [ "height", "width", "channels" ], "补充信息（info）": { "视频高度（video.height）": 480, "视频宽度（video.width）": 640, "视频编码格式（video.codec）": "av1 (AV1)", "视频像素格式（video.pix_fmt）": "yuv420p (YUV420p)", "是否为深度图（video.is_depth_map）": false, "视频帧率（video.fps）": 30, "视频通道数（video.channels）": 3, "包含音频轨道（has_audio）": false } }, "观测.图像.第一人称摄像头（observation.images.cam_1st_person）": { "数据类型（dtype）": "video", "形状（shape）": [ 480, 640, 3 ], "字段名（names）": [ "height", "width", "channels" ], "补充信息（info）": { "视频高度（video.height）": 480, "视频宽度（video.width）": 640, "视频编码格式（video.codec）": "av1 (AV1)", "视频像素格式（video.pix_fmt）": "yuv420p (YUV420p)", "是否为深度图（video.is_depth_map）": false, "视频帧率（video.fps）": 30, "视频通道数（video.channels）": 3, "包含音频轨道（has_audio）": false } }, "时间戳（timestamp）": { "数据类型（dtype）": "float32 (float32)", "形状（shape）": [ 1 ], "字段名（names）": null }, "帧索引（frame_index）": { "数据类型（dtype）": "int64 (int64)", "形状（shape）": [ 1 ], "字段名（names）": null }, "回合索引（episode_index）": { "数据类型（dtype）": "int64 (int64)", "形状（shape）": [ 1 ], "字段名（names）": null }, "全局索引（index）": { "数据类型（dtype）": "int64 (int64)", "形状（shape）": [ 1 ], "字段名（names）": null }, "任务索引（task_index）": { "数据类型（dtype）": "int64 (int64)", "形状（shape）": [ 1 ], "字段名（names）": null } } } ## 引用 **BibTeX格式：** bibtex [更多信息待补充]