seriintan/eval_allis_robot_test2

---
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).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=seriintan/eval_allis_robot_test2">
<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>

## 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": "so_follower",
"total_episodes": 1,
"total_frames": 1612,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.camera1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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.camera2": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

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)构建。

[点击此处可视化本数据集](https://huggingface.co/spaces/lerobot/visualize_dataset?path=seriintan/eval_allis_robot_test2)

## 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`meta/info.json`内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 1612,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.camera1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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.camera2": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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
}
}
}

其中各字段说明如下：
- `codebase_version`：代码库版本为v3.0
- `robot_type`：机器人类型为so_follower
- `total_episodes`：总轨迹数为1
- `total_frames`：总帧数为1612
- `total_tasks`：总任务数为1
- `chunks_size`：数据分块大小为1000
- `data_files_size_in_mb`：数据文件总大小为100MB
- `video_files_size_in_mb`：视频文件总大小为200MB
- `fps`：采样帧率为30
- `splits`：数据集划分方式为训练集占`0:1`
- `data_path`：数据文件路径格式为`data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
- `video_path`：视频文件路径格式为`videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`
- `features`：数据集包含以下特征：
1. **action**：动作特征，数据类型为32位浮点型，维度名称依次为`["shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos"]`，数据形状为6维
2. **observation.state**：观测状态特征，数据类型为32位浮点型，维度名称与动作特征一致，数据形状为6维
3. **observation.images.camera1**：相机1的图像观测特征，数据类型为视频，分辨率为480（高）×640（宽）×3（通道），维度名称为`["height", "width", "channels"]`，详细信息包括：视频高度480、宽度640，编码格式为H.264，像素格式为YUV420P，非深度图，帧率30，通道数3，无音频
4. **observation.images.camera2**：相机2的图像观测特征，参数与相机1一致
5. **timestamp**：时间戳特征，数据类型为32位浮点型，形状为1维，无维度名称
6. **frame_index**：帧索引特征，数据类型为64位整型，形状为1维，无维度名称
7. **episode_index**：轨迹索引特征，数据类型为64位整型，形状为1维，无维度名称
8. **index**：全局索引特征，数据类型为64位整型，形状为1维，无维度名称
9. **task_index**：任务索引特征，数据类型为64位整型，形状为1维，无维度名称

## 引用
**BibTeX格式：**
bibtex
[更多信息待补充]