pranavsaroha/bimanual_foldXVLA_Newstyle

--- 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": "bi_so100_follower", "total_episodes": 2, "total_frames": 4258, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 500, "fps": 30, "splits": { "train": "0:2" }, "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": [ "left_shoulder_pan.pos", "left_shoulder_lift.pos", "left_elbow_flex.pos", "left_wrist_flex.pos", "left_wrist_roll.pos", "left_gripper.pos", "right_shoulder_pan.pos", "right_shoulder_lift.pos", "right_elbow_flex.pos", "right_wrist_flex.pos", "right_wrist_roll.pos", "right_gripper.pos" ], "shape": [ 12 ] }, "observation.state": { "dtype": "float32", "names": [ "left_shoulder_pan.pos", "left_shoulder_lift.pos", "left_elbow_flex.pos", "left_wrist_flex.pos", "left_wrist_roll.pos", "left_gripper.pos", "right_shoulder_pan.pos", "right_shoulder_lift.pos", "right_elbow_flex.pos", "right_wrist_flex.pos", "right_wrist_roll.pos", "right_gripper.pos" ], "shape": [ 12 ] }, "observation.images.OpenCV Camera @ 1": { "dtype": "video", "shape": [ 1080, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1080, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.OpenCV Camera @ 0": { "dtype": "video", "shape": [ 1080, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1080, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.OpenCV Camera @ 3": { "dtype": "video", "shape": [ 1080, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1080, "video.width": 1920, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.OpenCV Camera @ 2": { "dtype": "video", "shape": [ 1080, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 1080, "video.width": 1920, "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 标签: - LeRobot 配置项: - 配置名称: default 数据文件: data/*/*.parquet 本数据集基于LeRobot构建，其开发仓库链接为[LeRobot](https://github.com/huggingface/lerobot)。 ## 数据集描述 - **主页:** [待补充更多信息] - **论文:** [待补充更多信息] - **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": "bi_so100_follower", "总回合数": 2, "总帧数": 4258, "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）": 500, "帧率": 30, "划分方式": { "训练集": "0:2" }, "数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "动作": { "数据类型": "float32", "维度名称": [ "左肩 pan 关节位置", "左肩 lift 关节位置", "左肘 flex 关节位置", "左腕 flex 关节位置", "左腕 roll 关节位置", "左夹爪位置", "右肩 pan 关节位置", "右肩 lift 关节位置", "右肘 flex 关节位置", "右腕 flex 关节位置", "右腕 roll 关节位置", "右夹爪位置" ], "形状": [ 12 ] }, "观测.状态": { "数据类型": "float32", "维度名称": [ "左肩 pan 关节位置", "左肩 lift 关节位置", "左肘 flex 关节位置", "左腕 flex 关节位置", "左腕 roll 关节位置", "左夹爪位置", "右肩 pan 关节位置", "右肩 lift 关节位置", "右肘 flex 关节位置", "右腕 flex 关节位置", "右腕 roll 关节位置", "右夹爪位置" ], "形状": [ 12 ] }, "观测.图像.OpenCV相机 @ 1": { "数据类型": "视频", "形状": [ 1080, 1920, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 1080, "视频.宽度": 1920, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.OpenCV相机 @ 0": { "数据类型": "视频", "形状": [ 1080, 1920, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 1080, "视频.宽度": 1920, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.OpenCV相机 @ 3": { "数据类型": "视频", "形状": [ 1080, 1920, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 1080, "视频.宽度": 1920, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.OpenCV相机 @ 2": { "数据类型": "视频", "形状": [ 1080, 1920, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 1080, "视频.宽度": 1920, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "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 }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引": { "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:** bibtex [待补充更多信息]