zeuzei/p3

该数据集是使用LeRobot创建的机器人相关数据集，包含449帧数据，涉及1个任务和1个片段。数据集结构包括动作、观察状态（包含肩部、肘部、腕部和夹持器的位置信息）、顶部和腕部摄像头图像（分辨率480x640，30fps）以及时间戳等特征。数据以parquet格式存储，视频以mp4格式存储。数据集总大小为300MB（数据文件100MB，视频文件200MB）。

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: 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=zeuzei/p3">
<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

- **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]:
json
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 449,
"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": [
"肩旋转关节位置",
"肩抬升关节位置",
"肘屈伸关节位置",
"腕屈伸关节位置",
"腕旋转关节位置",
"夹爪位置"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"肩旋转关节位置",
"肩抬升关节位置",
"肘屈伸关节位置",
"腕屈伸关节位置",
"腕旋转关节位置",
"夹爪位置"
],
"shape": [
6
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"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.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"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
}
}
}

## 引用

**BibTeX格式引用：**
bibtex
[需补充更多信息]