LeRobot-worldwide-hackathon/291-jpizarrom-hilserl_so100_push_v1

---
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": "v2.1",
"robot_type": null,
"total_episodes": 20,
"total_frames": 1709,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:20"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
21
],
"names": null
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": [
"delta_x_ee",
"delta_y_ee",
"delta_z_ee"
]
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"complementary_info.discrete_penalty": {
"dtype": "float32",
"shape": [
1
],
"names": [
"discrete_penalty"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
3,
128,
128
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
3,
128,
128
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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（LeRobot）
配置项：
- 配置名称：default
数据文件：data/*/*.parquet

本数据集由 [LeRobot（LeRobot）](https://github.com/huggingface/lerobot) 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`：
json
{
"代码库版本": "v2.1",
"机器人类型": null,
"总回合数": 20,
"总帧数": 1709,
"总任务数": 1,
"总视频数": 40,
"总块数": 1,
"块大小": 1000,
"帧率": 10,
"数据集划分": {
"训练集": "0:20"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测数据.状态": {
"数据类型": "float32",
"形状": [21],
"字段名": null
},
"动作": {
"数据类型": "float32",
"形状": [3],
"字段名": ["delta_x_ee", "delta_y_ee", "delta_z_ee"]
},
"后续奖励": {
"数据类型": "float32",
"形状": [1],
"字段名": null
},
"后续终止标记": {
"数据类型": "bool",
"形状": [1],
"字段名": null
},
"补充信息.离散惩罚项": {
"数据类型": "float32",
"形状": [1],
"字段名": ["discrete_penalty"]
},
"观测数据.前置摄像头图像": {
"数据类型": "视频",
"形状": [3, 128, 128],
"字段名": ["channels", "height", "width"],
"详细信息": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"观测数据.顶部摄像头图像": {
"数据类型": "视频",
"形状": [3, 128, 128],
"字段名": ["channels", "height", "width"],
"详细信息": {
"video.height": 128,
"video.width": 128,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
}
}
}

## 引用
**BibTeX：**
bibtex
[需补充更多信息]