kd-forge/sort_wb1n2_merged
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下载链接：
https://hf-mirror.com/datasets/kd-forge/sort_wb1n2_merged
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资源简介：
---
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_so_follower",
"total_episodes": 569,
"total_frames": 361191,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:569"
},
"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.left_up": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"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]
```
---
许可协议：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。
## 数据集说明
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可协议**：Apache-2.0
## 数据集结构
`meta/info.json`文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "双足跟随式机器人（bi_so_follower）",
"总回合数": 569,
"总帧数": 361191,
"总任务数": 1,
"分块大小": 1000000,
"数据文件总大小（MB）": 10000,
"视频文件总大小（MB）": 50000,
"帧率": 30,
"数据集划分": {
"训练集": "0:569"
},
"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": {
"动作（action）": {
"数据类型": "float32",
"维度": [12],
"关节名称": [
"左肩 pan关节位置（left_shoulder_pan.pos）",
"左肩 lift关节位置（left_shoulder_lift.pos）",
"左肘 flex关节位置（left_elbow_flex.pos）",
"左腕 flex关节位置（left_wrist_flex.pos）",
"左腕 roll关节位置（left_wrist_roll.pos）",
"左夹爪位置（left_gripper.pos）",
"右肩 pan关节位置（right_shoulder_pan.pos）",
"右肩 lift关节位置（right_shoulder_lift.pos）",
"右肘 flex关节位置（right_elbow_flex.pos）",
"右腕 flex关节位置（right_wrist_flex.pos）",
"右腕 roll关节位置（right_wrist_roll.pos）",
"右夹爪位置（right_gripper.pos）"
]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"维度": [12],
"关节名称": [
"左肩 pan关节位置（left_shoulder_pan.pos）",
"左肩 lift关节位置（left_shoulder_lift.pos）",
"左肘 flex关节位置（left_elbow_flex.pos）",
"左腕 flex关节位置（left_wrist_flex.pos）",
"左腕 roll关节位置（left_wrist_roll.pos）",
"左夹爪位置（left_gripper.pos）",
"右肩 pan关节位置（right_shoulder_pan.pos）",
"右肩 lift关节位置（right_shoulder_lift.pos）",
"右肘 flex关节位置（right_elbow_flex.pos）",
"右腕 flex关节位置（right_wrist_flex.pos）",
"右腕 roll关节位置（right_wrist_roll.pos）",
"右夹爪位置（right_gripper.pos）"
]
},
"观测图像.left_up（observation.images.left_up）": {
"数据类型": "视频",
"维度": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.left_front（observation.images.left_front）": {
"数据类型": "视频",
"维度": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.left_right（observation.images.left_right）": {
"数据类型": "视频",
"维度": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.left_left（observation.images.left_left）": {
"数据类型": "视频",
"维度": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"维度": [1],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"维度": [1],
"维度名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"维度": [1],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"维度": [1],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"维度": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式引用**：
bibtex
[More Information Needed]
提供机构：
kd-forge
