hinoarashi/target_small

--- 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_so101_follower", "total_episodes": 50, "total_frames": 22438, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:50" }, "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.top": { "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.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": { "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] ```--- 许可证：Apache-2.0 任务类别： - 机器人学（robotics） 标签： - LeRobot（LeRobot） 配置： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集通过LeRobot（LeRobot）工具链创建，项目链接为https://github.com/huggingface/lerobot。 ## 数据集描述 - **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 文件`meta/info.json`包含如下元数据： json { "codebase_version": "v3.0", "robot_type": "bi_so101_follower", "total_episodes": 50, "total_frames": 22438, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:50" }, "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（动作）": { "dtype（数据类型）": "float32", "names（维度名称）": [ "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（形状）": [12] }, "observation.state（观测状态）": { "dtype（数据类型）": "float32", "names（维度名称）": [ "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（形状）": [12] }, "observation.images.top（顶部视角图像观测）": { "dtype（数据类型）": "video（视频）", "shape（形状）": [480, 640, 3], "names（维度名称）": ["height（高度）", "width（宽度）", "channels（通道数）"], "info（详细信息）": { "video.height（视频高度）": 480, "video.width（视频宽度）": 640, "video.codec（视频编码格式）": "av1", "video.pix_fmt（视频像素格式）": "yuv420p", "video.is_depth_map（是否为深度图）": false, "video.fps（视频帧率）": 30, "video.channels（视频通道数）": 3, "has_audio（是否含音频）": false } }, "observation.images.right（右侧视角图像观测）": { "dtype（数据类型）": "video（视频）", "shape（形状）": [480, 640, 3], "names（维度名称）": ["height（高度）", "width（宽度）", "channels（通道数）"], "info（详细信息）": { "video.height（视频高度）": 480, "video.width（视频宽度）": 640, "video.codec（视频编码格式）": "av1", "video.pix_fmt（视频像素格式）": "yuv420p", "video.is_depth_map（是否为深度图）": false, "video.fps（视频帧率）": 30, "video.channels（视频通道数）": 3, "has_audio（是否含音频）": false } }, "observation.images.left（左侧视角图像观测）": { "dtype（数据类型）": "video（视频）", "shape（形状）": [480, 640, 3], "names（维度名称）": ["height（高度）", "width（宽度）", "channels（通道数）"], "info（详细信息）": { "video.height（视频高度）": 480, "video.width（视频宽度）": 640, "video.codec（视频编码格式）": "av1", "video.pix_fmt（视频像素格式）": "yuv420p", "video.is_depth_map（是否为深度图）": false, "video.fps（视频帧率）": 30, "video.channels（视频通道数）": 3, "has_audio（是否含音频）": false } }, "timestamp（时间戳）": { "dtype（数据类型）": "float32", "shape（形状）": [1], "names（维度名称）": null }, "frame_index（帧索引）": { "dtype（数据类型）": "int64", "shape（形状）": [1], "names（维度名称）": null }, "episode_index（回合索引）": { "dtype（数据类型）": "int64", "shape（形状）": [1], "names（维度名称）": null }, "index（全局索引）": { "dtype（数据类型）": "int64", "shape（形状）": [1], "names（维度名称）": null }, "task_index（任务索引）": { "dtype（数据类型）": "int64", "shape（形状）": [1], "names（维度名称）": null } } } ## 引用 **BibTeX格式引用**： bibtex [需补充更多信息]