CarolinePascal/so101_depth_raw

该数据集由LeRobot创建，属于机器人领域。数据集包含多种特征，如动作、观测状态、图像和深度图等。动作和观测状态包括6个关节的位置信息，图像为480x640分辨率的RGB图像，深度图为480x640分辨率的深度信息。数据集总共有1个任务、1个片段和172帧，帧率为30fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集的许可证为apache-2.0。

---
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：data/*/*.parquet
---

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=CarolinePascal/so101_depth_raw">
<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
- **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
文件`meta/info.json`存储了该数据集的元信息，内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 172,
"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": null,
"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": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.depth.front": {
"dtype": "image",
"shape": [
480,
640
],
"names": [
"height",
"width"
],
"info": {
"video.is_depth_map": true
}
},
"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：**
bibtex
[更多信息待补充]