dillonlyr04/eval_final_k50_200000

这是一个机器人学数据集，使用LeRobot工具创建，专门针对双臂机器人（bi_so100_follower）设计。数据集包含2个总episodes、853个总frames和1个总任务，数据以parquet文件格式存储，总大小为100MB，视频文件大小为200MB，帧率为30fps。数据特征包括机器人的动作（12个浮点型关节位置）、观测状态（12个浮点型关节位置）、以及来自三个视角（顶部全局、左臂、右臂）的视频观测（分辨率720x1280，3通道，H.264编码）。此外，还包含时间戳、帧索引、episode索引等元数据。数据集仅用于训练，适用于机器人控制和学习任务。

---
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。

## 数据集概述
- **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": "bi_so100_follower",
"total_episodes": 2,
"total_frames": 853,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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.top_global": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_arm": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_arm": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"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
}
}
}

## 引用信息
**BibTeX格式：**
bibtex
[More Information Needed]