marcossantosperesvw/eval_act_trossen_ai_solo_test

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- tutorial
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": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 10,
"total_frames": 6071,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"main_joint_0",
"main_joint_1",
"main_joint_2",
"main_joint_3",
"main_joint_4",
"main_joint_5",
"main_joint_6"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"main_joint_0",
"main_joint_1",
"main_joint_2",
"main_joint_3",
"main_joint_4",
"main_joint_5",
"main_joint_6"
]
},
"observation.images.cam_main": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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
- 教程（tutorial）
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)项目构建。

## 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
`meta/info.json` 文件内容如下：
json
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 10,
"total_frames": 6071,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"动作（action）": {
"数据类型（dtype）": "float32",
"形状（shape）": [
7
],
"字段名称（names）": [
"main_joint_0",
"main_joint_1",
"main_joint_2",
"main_joint_3",
"main_joint_4",
"main_joint_5",
"main_joint_6"
]
},
"观测状态（observation.state）": {
"数据类型（dtype）": "float32",
"形状（shape）": [
7
],
"字段名称（names）": [
"main_joint_0",
"main_joint_1",
"main_joint_2",
"main_joint_3",
"main_joint_4",
"main_joint_5",
"main_joint_6"
]
},
"主相机图像观测（observation.images.cam_main）": {
"数据类型（dtype）": "video",
"形状（shape）": [
480,
640,
3
],
"字段名称（names）": [
"height",
"width",
"channels"
],
"信息（info）": {
"视频帧率（video.fps）": 30.0,
"视频高度（video.height）": 480,
"视频宽度（video.width）": 640,
"视频通道数（video.channels）": 3,
"视频编码格式（video.codec）": "av1",
"视频像素格式（video.pix_fmt）": "yuv420p",
"是否为深度图（video.is_depth_map）": false,
"是否包含音频（has_audio）": false
}
},
"腕部相机图像观测（observation.images.cam_wrist）": {
"数据类型（dtype）": "video",
"形状（shape）": [
480,
640,
3
],
"字段名称（names）": [
"height",
"width",
"channels"
],
"信息（info）": {
"视频帧率（video.fps）": 30.0,
"视频高度（video.height）": 480,
"视频宽度（video.width）": 640,
"视频通道数（video.channels）": 3,
"视频编码格式（video.codec）": "av1",
"视频像素格式（video.pix_fmt）": "yuv420p",
"是否为深度图（video.is_depth_map）": false,
"是否包含音频（has_audio）": false
}
},
"时间戳（timestamp）": {
"数据类型（dtype）": "float32",
"形状（shape）": [
1
],
"字段名称（names）": null
},
"帧索引（frame_index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [
1
],
"字段名称（names）": null
},
"回合索引（episode_index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [
1
],
"字段名称（names）": null
},
"全局索引（index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [
1
],
"字段名称（names）": null
},
"任务索引（task_index）": {
"数据类型（dtype）": "int64",
"形状（shape）": [
1
],
"字段名称（names）": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]