MSSerg/so101-easy-task-v1

---
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=MSSerg/so101-easy-task-v1">
<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": "so101",
"fps": 30,
"total_episodes": 200,
"total_frames": 74826,
"total_tasks": 1,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30.0,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30.0,
"video.channels": 3,
"has_audio": false
}
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"iql_weight": {
"dtype": "float32",
"shape": [
1
],
"names": null
}
},
"splits": {
"train": "0:200"
},
"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",
"chunks_size": 1000
}
```

## 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。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=MSSerg/so101-easy-task-v1">
<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
- **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]：
json
{
"代码库版本": "v3.0",
"机器人类型": "so101",
"帧率": 30,
"总回合数": 200,
"总帧数": 74826,
"总任务数": 1,
"特征": {
"观测状态（observation.state）": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5"]
},
"动作（action）": {
"数据类型": "float32",
"形状": [6],
"维度名称": ["motor_0", "motor_1", "motor_2", "motor_3", "motor_4", "motor_5"]
},
"顶部图像观测（observation.images.top）": {
"数据类型": "视频",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30.0,
"视频通道数": 3,
"是否包含音频": false
}
},
"腕部图像观测（observation.images.wrist）": {
"数据类型": "视频",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30.0,
"视频通道数": 3,
"是否包含音频": false
}
},
"回合索引（episode_index）": {
"数据类型": "int64",
"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
},
"时间戳（timestamp）": {
"数据类型": "float32",
"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
},
"下一时刻奖励（next.reward）": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"IQL权重（iql_weight）": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
}
},
"数据集划分": {
"训练集": "0:200"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"单数据块大小": 1000
}

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