jjr1007/may7_first16_last48_newMethod_relative

该数据集使用LeRobot创建，是一个机器人技术数据集，专门针对SO_FOLLOWER机器人类型。数据集包含255个episodes，总计196,126帧，数据以30fps的帧率记录。数据文件大小为100MB，视频文件大小为200MB。特征包括6维动作和观测状态（分别对应肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、前摄像头图像（分辨率为1080x1920，3通道，视频编码为AV1）、时间戳、帧索引、episode索引、索引和任务索引。数据集用于训练和评估机器人控制任务，所有数据均用于训练分割。

---
许可证: apache-2.0
任务类别:
- 机器人学
标签:
- LeRobot（LeRobot）
配置项:
- 配置名称: default
数据文件路径: data/*/*.parquet
---

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=jjr1007/may7_first16_last48_newMethod_relative">
<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>

## 数据集说明

- **项目主页：** [待补充更多信息]
- **相关论文：** [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
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 255,
"total_frames": 196126,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:255"
},
"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.front": {
"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
}
}
}

## 引用

**BibTeX 格式引用：**
bibtex
[待补充更多信息]