bdhillon/PI-0.5-11.19.2025-v3-quantiles
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下载链接：
https://hf-mirror.com/datasets/bdhillon/PI-0.5-11.19.2025-v3-quantiles
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资源简介：
---
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
{
"robot_type": "so-100",
"codebase_version": "v3.0",
"total_episodes": 11,
"total_frames": 6953,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:11"
},
"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",
"shape": [
6
],
"names": [
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
],
"fps": 30
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"observation.images.main": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.secondary_0": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.secondary_1": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
```
## 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: 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:** [待补充详细信息]
- **相关论文:** [待补充详细信息]
- **许可证:** Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"robot_type": "so-100",
"codebase_version": "v3.0",
"total_episodes": 11,
"total_frames": 6953,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:11"
},
"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": {
"动作": {
"dtype": "float32",
"shape": [6],
"names": ["motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6"],
"fps": 30
},
"观测.状态": {
"dtype": "float32",
"shape": [6],
"names": ["motor_1", "motor_2", "motor_3", "motor_4", "motor_5", "motor_6"],
"fps": 30
},
"时间戳": {
"dtype": "float32",
"shape": [1],
"names": null,
"fps": 30
},
"回合索引": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"帧索引": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"任务索引": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"全局索引": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 30
},
"观测.图像.主摄像头": {
"dtype": "video",
"shape": [240, 320, 3],
"names": ["height", "width", "channel"],
"info": {
"video.fps": 30,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"观测.图像.辅助摄像头0": {
"dtype": "video",
"shape": [240, 320, 3],
"names": ["height", "width", "channel"],
"info": {
"video.fps": 30,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"观测.图像.辅助摄像头1": {
"dtype": "video",
"shape": [240, 320, 3],
"names": ["height", "width", "channel"],
"info": {
"video.fps": 30,
"video.codec": "mp4v",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
## 参考文献
**BibTeX格式:**
bibtex
[待补充详细信息]
提供机构：
bdhillon
