wuc1/bi_so101_flatten-and-fold-the-rag-then-place-advantage-labeled-3cam-merged
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该数据集是一个用于机器人学任务的数据集，使用LeRobot工具创建。它包含102个总集数，总帧数为330,811帧，涉及2个总任务。数据集结构包括以下特征：动作数据（action）和观察状态（observation.state），均为浮点32位类型，形状为[12]，表示左右机械臂的12个关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）。观察图像数据来自三个摄像头：left_camera1、left_camera3和right_camera2，每个摄像头提供视频数据，格式为H.264编码，分辨率480x640，3个通道（RGB），帧率为30fps，非深度图。其他特征包括时间戳（timestamp）、帧索引（frame_index）、集索引（episode_index）、索引（index）和任务索引（task_index），数据类型分别为浮点32位和整数64位。数据集以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，使用分块存储（块大小为1000）。机器人类型为bi_so_follower，所有数据用于训练集（splits为train: 0:102）。
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 数据文件路径：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。 可通过以下链接可视化该数据集：<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=wuc1/bi_so101_flatten-and-fold-the-rag-then-place-advantage-labeled-3cam-merged">，配套提供明暗两种模式的可视化徽章图片：<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> 与 <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/></a> ## 数据集说明 - **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 元数据文件为`meta/info.json`，其详细配置如下： json { "codebase_version": "v3.0", "fps": 30, "features": { "action": { "dtype": "float32", "names": [ "左肩关节俯仰.pos", "左肩关节抬升.pos", "左肘关节屈曲.pos", "左腕关节屈曲.pos", "左腕关节旋转.pos", "左夹爪.pos", "右肩关节俯仰.pos", "右肩关节抬升.pos", "右肘关节屈曲.pos", "右腕关节屈曲.pos", "右腕关节旋转.pos", "右夹爪.pos" ], "shape": [ 12 ] }, "observation.state": { "dtype": "float32", "names": [ "左肩关节俯仰.pos", "左肩关节抬升.pos", "左肘关节屈曲.pos", "左腕关节屈曲.pos", "左腕关节旋转.pos", "左夹爪.pos", "右肩关节俯仰.pos", "右肩关节抬升.pos", "右肘关节屈曲.pos", "右腕关节屈曲.pos", "右腕关节旋转.pos", "右夹爪.pos" ], "shape": [ 12 ] }, "observation.images.left_camera1": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "高度", "宽度", "通道数" ], "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.left_camera3": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "高度", "宽度", "通道数" ], "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.right_camera2": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "高度", "宽度", "通道数" ], "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 } }, "total_episodes": 102, "total_frames": 330811, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "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", "robot_type": "bi_so_follower", "splits": { "train": "0:102" } } ## 引用 **BibTeX格式：** bibtex [More Information Needed]
