Dave45770/eval_SmolVLA_20k_Multicolor

---
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": 1,
"total_frames": 2539,
"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": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"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": "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.top": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"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
标签：LeRobot
配置参数：默认配置下的数据文件路径为`data/*/*.parquet`

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

## 数据集说明
- **项目主页：** [需补充更多信息]
- **相关论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构
`meta/info.json`文件内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 1,
"total_frames": 2539,
"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": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"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": "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.top": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1080,
"video.width": 1920,
"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
}
}
}

其中各字段说明如下：
- 代码库版本：v3.0
- 机器人类型：so101_follower
- 总回合数：1
- 总帧数：2539
- 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：训练集对应区间为0:1，即包含全部数据
- 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`
- 特征字段说明：
1. **动作（action）**：数据类型为float32，维度名称依次为`shoulder_pan.pos`、`shoulder_lift.pos`、`elbow_flex.pos`、`wrist_flex.pos`、`wrist_roll.pos`、`gripper.pos`，张量形状为[6]
2. **观测状态（observation.state）**：数据类型为float32，维度名称与动作字段一致，张量形状为[6]
3. **前视摄像头图像（observation.images.front）**：数据类型为视频流，张量形状为[480, 640, 3]，对应维度为高度、宽度、通道数；详细参数：视频高度480、宽度640，编解码器为AV1，像素格式为yuv420p，非深度图，帧率30，通道数3，无音频轨道
4. **俯视摄像头图像（observation.images.top）**：数据类型为视频流，张量形状为[1080, 1920, 3]，对应维度为高度、宽度、通道数；详细参数：视频高度1080、宽度1920，编解码器为AV1，像素格式为yuv420p，非深度图，帧率30，通道数3，无音频轨道
5. **时间戳（timestamp）**：数据类型为float32，张量形状为[1]，无维度名称
6. **帧索引（frame_index）**：数据类型为int64，张量形状为[1]，无维度名称
7. **回合索引（episode_index）**：数据类型为int64，张量形状为[1]，无维度名称
8. **全局索引（index）**：数据类型为int64，张量形状为[1]，无维度名称
9. **任务索引（task_index）**：数据类型为int64，张量形状为[1]，无维度名称

## 参考文献
**BibTeX格式：** [需补充更多信息]