jhimmens/eval_lerobot-inference-test

---
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=jhimmens/eval_lerobot-inference-test">
<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": "bi_so_follower",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {},
"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.left_left_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.left_right_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.left_top_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
]
},
"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)开发构建。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=jhimmens/eval_lerobot-inference-test">
<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>

## 数据集描述

- **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

`meta/info.json`：
json
{
"代码库版本": "v3.0",
"机器人类型": "bi_so_follower",
"总回合数": 0,
"总帧数": 0,
"总任务数": 0,
"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（fps）": 30,
"数据集划分": {},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征项": {
"动作": {
"数据类型": "float32",
"关节名称": [
"左肩关节方位关节位置",
"左肩关节俯仰关节位置",
"左肘关节屈伸关节位置",
"左腕关节屈伸关节位置",
"左腕关节滚转关节位置",
"左手爪位置",
"右肩关节方位关节位置",
"右肩关节俯仰关节位置",
"右肘关节屈伸关节位置",
"右腕关节屈伸关节位置",
"右腕关节滚转关节位置",
"右手爪位置"
],
"形状": [12]
},
"观测状态": {
"数据类型": "float32",
"关节名称": [
"左肩关节方位关节位置",
"左肩关节俯仰关节位置",
"左肘关节屈伸关节位置",
"左腕关节屈伸关节位置",
"左腕关节滚转关节位置",
"左手爪位置",
"右肩关节方位关节位置",
"右肩关节俯仰关节位置",
"右肘关节屈伸关节位置",
"右腕关节屈伸关节位置",
"右腕关节滚转关节位置",
"右手爪位置"
],
"形状": [12]
},
"观测图像：左左相机": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"]
},
"观测图像：左右相机": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"]
},
"观测图像：左顶相机": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"]
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度说明": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度说明": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度说明": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度说明": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度说明": null
}
}
}

## 引用

**BibTeX格式引用：**

bibtex
[更多信息待补充]