Tsagkas/dataset-v5

---
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": "so101_follower",
"total_episodes": 10,
"total_frames": 1756,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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": [
"ee.x",
"ee.y",
"ee.z",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.gripper_pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"ee.gripper_pos",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.x",
"ee.y",
"ee.z"
],
"shape": [
7
]
},
"observation.images.wrist": {
"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]
```

license: Apache-2.0
任务类别：
- 机器人学（robotics）
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**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人型号": "so101_follower",
"总回合数": 10,
"总帧数": 1756,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 30,
"数据集划分": {
"训练集": "0:10"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32",
"维度名称": [
"ee.x（末端执行器X轴坐标）",
"ee.y（末端执行器Y轴坐标）",
"ee.z（末端执行器Z轴坐标）",
"ee.wx（末端执行器X轴角速度）",
"ee.wy（末端执行器Y轴角速度）",
"ee.wz（末端执行器Z轴角速度）",
"ee.gripper_pos（末端执行器夹爪位置）"
],
"形状": [
7
]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"维度名称": [
"ee.gripper_pos（末端执行器夹爪位置）",
"ee.wx（末端执行器X轴角速度）",
"ee.wy（末端执行器Y轴角速度）",
"ee.wz（末端执行器Z轴角速度）",
"ee.x（末端执行器X轴坐标）",
"ee.y（末端执行器Y轴坐标）",
"ee.z（末端执行器Z轴坐标）"
],
"形状": [
7
]
},
"腕部图像观测（observation.images.wrist）": {
"数据类型": "video",
"形状": [
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",
"形状": [
1
],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}

## 引用
**BibTeX格式引用**：
bibtex
[需补充更多信息]