IMsubin/red_green_apple_sort_172

---
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": "omx_f",
"total_episodes": 172,
"total_frames": 130664,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:171"
},
"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": {
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"observation.images.wrist_cam": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.top_cam": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
"dtype": "float32",
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"gripper_joint_1"
],
"shape": [
6
],
"fps": 30
},
"action": {
"dtype": "float32",
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"gripper_joint_1"
],
"shape": [
6
],
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

许可协议：Apache 2.0
任务类别：
- 机器人学
标签：
- LeRobot
配置项：
- 配置名称：default
数据文件路径：data/*/*.parquet

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

## 数据集说明
- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可协议：** Apache 2.0

## 数据集结构
元数据文件为[meta/info.json](meta/info.json)，其内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "omx_f",
"total_episodes": 172,
"total_frames": 130664,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:171"
},
"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": {
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"observation.images.wrist_cam": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.top_cam": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
"dtype": "float32",
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"gripper_joint_1"
],
"shape": [
6
],
"fps": 30
},
"action": {
"dtype": "float32",
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"gripper_joint_1"
],
"shape": [
6
],
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}

其中各字段含义如下：
- 代码库版本（codebase_version）：v3.0
- 机器人类型（robot_type）：omx_f
- 总回合数（total_episodes）：172
- 总帧数（total_frames）：130664
- 总任务数（total_tasks）：1
- 块大小（chunks_size）：1000
- 帧率（fps）：30
- 数据划分（splits）：训练集（train）对应索引范围为0:171
- 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）：包含以下字段：
1. 时间戳（timestamp）：数据类型为float32，形状为[1]，无自定义字段名，帧率30
2. 帧索引（frame_index）：数据类型为int64，形状为[1]，无自定义字段名，帧率30
3. 回合索引（episode_index）：数据类型为int64，形状为[1]，无自定义字段名，帧率30
4. 全局索引（index）：数据类型为int64，形状为[1]，无自定义字段名，帧率30
5. 任务索引（task_index）：数据类型为int64，形状为[1]，无自定义字段名，帧率30
6. 观测数据-腕部相机图像（observation.images.wrist_cam）：视频类型，维度依次为高度、宽度、通道数，形状为[480, 640, 3]，详细视频参数包括：视频高度480、宽度640、通道数3，编码格式为libx264，像素格式为yuv420p
7. 观测数据-顶部相机图像（observation.images.top_cam）：与腕部相机图像参数一致
8. 观测数据-机器人状态（observation.state）：数据类型为float32，字段名依次为joint1至joint5以及gripper_joint_1共6个关节维度，形状为[6]，帧率30
9. 动作指令（action）：数据类型为float32，字段名与观测状态一致，共6个维度，形状为[6]，帧率30
- 数据文件总大小（data_files_size_in_mb）：100 MB
- 视频文件总大小（video_files_size_in_mb）：200 MB

## 引用
**BibTeX格式引用：**
bibtex
[需补充更多信息]