roshan-george/EE5108_Group1_darshan_3

---
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": 5,
"total_frames": 1483,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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.top": {
"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.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
}
},
"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]
```

license: Apache-2.0
任务类别 (task_categories)：
- 机器人学
标签 (tags)：
- LeRobot
配置项 (configs)：
- 配置名称 (config_name)：default
数据文件路径 (data_files)：data/*/*.parquet
---

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

## 数据集说明 (Dataset Description)
- **主页 (Homepage)**：[待补充更多信息]
- **论文 (Paper)**：[待补充更多信息]
- **许可证 (License)**：Apache-2.0

## 数据集结构 (Dataset Structure)
[meta/info.json](meta/info.json)：
json
{
"代码库版本 (codebase_version)": "v3.0",
"机器人型号 (robot_type)": "so101_follower",
"总轨迹段数 (total_episodes)": 5,
"总帧数 (total_frames)": 1483,
"总任务数 (total_tasks)": 1,
"分块大小 (chunks_size)": 1000,
"数据文件总大小（MB） (data_files_size_in_mb)": 100,
"视频文件总大小（MB） (video_files_size_in_mb)": 200,
"帧率 (fps)": 30,
"数据集划分 (splits)": {
"训练集 (train)": "0:5"
},
"数据文件路径格式 (data_path)": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式 (video_path)": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征 (features)": {
"动作 (action)": {
"数据类型 (dtype)": "float32",
"特征名称 (names)": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"维度 (shape)": [
6
]
},
"观测状态 (observation.state)": {
"数据类型 (dtype)": "float32",
"特征名称 (names)": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"维度 (shape)": [
6
]
},
"顶部视角图像 (observation.images.top)": {
"数据类型 (dtype)": "video",
"维度 (shape)": [
480,
640,
3
],
"维度名称 (names)": [
"height",
"width",
"channels"
],
"详细信息 (info)": {
"视频高度 (video.height)": 480,
"视频宽度 (video.width)": 640,
"视频编码格式 (video.codec)": "av1",
"像素格式 (video.pix_fmt)": "yuv420p",
"是否为深度图 (video.is_depth_map)": false,
"视频帧率 (video.fps)": 30,
"通道数 (video.channels)": 3,
"是否包含音频 (has_audio)": false
}
},
"前部视角图像 (observation.images.front)": {
"数据类型 (dtype)": "video",
"维度 (shape)": [
480,
640,
3
],
"维度名称 (names)": [
"height",
"width",
"channels"
],
"详细信息 (info)": {
"视频高度 (video.height)": 480,
"视频宽度 (video.width)": 640,
"视频编码格式 (video.codec)": "av1",
"像素格式 (video.pix_fmt)": "yuv420p",
"是否为深度图 (video.is_depth_map)": false,
"视频帧率 (video.fps)": 30,
"通道数 (video.channels)": 3,
"是否包含音频 (has_audio)": false
}
},
"时间戳 (timestamp)": {
"数据类型 (dtype)": "float32",
"维度 (shape)": [
1
],
"维度名称 (names)": null
},
"帧索引 (frame_index)": {
"数据类型 (dtype)": "int64",
"维度 (shape)": [
1
],
"维度名称 (names)": null
},
"轨迹段索引 (episode_index)": {
"数据类型 (dtype)": "int64",
"维度 (shape)": [
1
],
"维度名称 (names)": null
},
"全局索引 (index)": {
"数据类型 (dtype)": "int64",
"维度 (shape)": [
1
],
"维度名称 (names)": null
},
"任务索引 (task_index)": {
"数据类型 (dtype)": "int64",
"维度 (shape)": [
1
],
"维度名称 (names)": null
}
}
}

## 引用 (Citation)
**BibTeX格式**：
bibtex
[待补充更多信息]