JennyWWW/eval_splatsim_approach_lever_benchmark_1000

---
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": "lerobot_splatsim",
"total_episodes": 1000,
"total_frames": 187307,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:1000"
},
"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": {
"observation.images.base_rgb_letterbox": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.base_rgb_stretch": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.wrist_rgb_letterbox": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.wrist_rgb_stretch": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"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
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet

---

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集说明

- **项目主页：** [需补充更多信息]
- **相关论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构

`meta/info.json`：
json
{
"代码库版本": "v3.0",
"机器人类型": "lerobot_splatsim",
"总回合数": 1000,
"总帧数": 187307,
"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": 20,
"数据集划分": {
"训练集": "0:1000"
},
"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",
"数据特征": {
"观测数据.图像.基础RGB 信源校正版（letterbox）": {
"数据类型": "图像",
"形状": [3, 224, 224],
"维度名称": ["通道", "高度", "宽度"]
},
"观测数据.图像.基础RGB 拉伸版（stretch）": {
"数据类型": "图像",
"形状": [3, 224, 224],
"维度名称": ["通道", "高度", "宽度"]
},
"观测数据.图像.腕部RGB 信源校正版（letterbox）": {
"数据类型": "图像",
"形状": [3, 224, 224],
"维度名称": ["通道", "高度", "宽度"]
},
"观测数据.图像.腕部RGB 拉伸版（stretch）": {
"数据类型": "图像",
"形状": [3, 224, 224],
"维度名称": ["通道", "高度", "宽度"]
},
"观测数据.关节状态": {
"数据类型": "float32",
"形状": [7],
"维度名称": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪"]
},
"动作指令": {
"数据类型": "float32",
"形状": [7],
"维度名称": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪"]
},
"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
}
}
}

## 参考文献

**BibTeX格式：**
bibtex
[需补充更多信息]