hjkso1406/eval_smolvla-Pick-a-purple-cube-and-put-it-into-paper-cup-v2
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下载链接：
https://hf-mirror.com/datasets/hjkso1406/eval_smolvla-Pick-a-purple-cube-and-put-it-into-paper-cup-v2
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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).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hjkso1406/eval_smolvla-Pick-a-purple-cube-and-put-it-into-paper-cup-v2">
<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>
## 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": "so_follower",
"total_episodes": 10,
"total_frames": 12114,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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.belly": {
"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.wrist": {
"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
task_categories:
- 机器人学（robotics）
tags:
- LeRobot（LeRobot）
configs:
- config_name: default
data_files: data/*/*.parquet
---
本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=hjkso1406/eval_smolvla-Pick-a-purple-cube-and-put-it-into-paper-cup-v2">
<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](meta/info.json):
json
{
"codebase_version": "v3.0", // 代码库版本：v3.0
"robot_type": "so_follower", // 机器人类型：so_follower
"total_episodes": 10, // 总轨迹数：10
"total_frames": 12114, // 总帧数：12114
"total_tasks": 1, // 总任务数：1
"chunks_size": 1000, // 分块大小：1000
"data_files_size_in_mb": 100, // 数据文件总大小（MB）：100
"video_files_size_in_mb": 200, // 视频文件总大小（MB）：200
"fps": 30, // 帧率：30
"splits": {
"train": "0:10" // 数据集划分：训练集索引范围为0:10
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", // 数据文件路径格式
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", // 视频文件路径格式
"features": {
"action": {
"dtype": "float32", // 数据类型：float32
"names": [ // 维度对应关节位置
"shoulder_pan.pos", // 肩旋转关节位置
"shoulder_lift.pos", // 肩升降关节位置
"elbow_flex.pos", // 肘关节屈曲位置
"wrist_flex.pos", // 腕关节屈曲位置
"wrist_roll.pos", // 腕关节旋转位置
"gripper.pos" // 夹爪开合位置
],
"shape": [6] // 维度形状：6维向量
},
"observation.state": {
"dtype": "float32", // 数据类型：float32
"names": [ // 维度对应关节位置
"shoulder_pan.pos", // 肩旋转关节位置
"shoulder_lift.pos", // 肩升降关节位置
"elbow_flex.pos", // 肘关节屈曲位置
"wrist_flex.pos", // 腕关节屈曲位置
"wrist_roll.pos", // 腕关节旋转位置
"gripper.pos" // 夹爪开合位置
],
"shape": [6] // 维度形状：6维向量
},
"observation.images.top": {
"dtype": "video", // 数据类型：视频
"shape": [480, 640, 3], // 图像分辨率：480×640，3通道
"names": [ // 维度名称
"height", // 高度
"width", // 宽度
"channels" // 通道数
],
"info": {
"video.height": 480, // 视频高度：480像素
"video.width": 640, // 视频宽度：640像素
"video.codec": "av1", // 视频编码格式：AV1
"video.pix_fmt": "yuv420p", // 视频像素格式：yuv420p
"video.is_depth_map": false, // 非深度图
"video.fps": 30, // 视频帧率：30
"video.channels": 3, // 视频通道数：3
"has_audio": false // 无音频轨道
}
},
"observation.images.belly": {
"dtype": "video", // 数据类型：视频
"shape": [480, 640, 3], // 图像分辨率：480×640，3通道
"names": [ // 维度名称
"height", // 高度
"width", // 宽度
"channels" // 通道数
],
"info": {
"video.height": 480, // 视频高度：480像素
"video.width": 640, // 视频宽度：640像素
"video.codec": "av1", // 视频编码格式：AV1
"video.pix_fmt": "yuv420p", // 视频像素格式：yuv420p
"video.is_depth_map": false, // 非深度图
"video.fps": 30, // 视频帧率：30
"video.channels": 3, // 视频通道数：3
"has_audio": false // 无音频轨道
}
},
"observation.images.wrist": {
"dtype": "video", // 数据类型：视频
"shape": [480, 640, 3], // 图像分辨率：480×640，3通道
"names": [ // 维度名称
"height", // 高度
"width", // 宽度
"channels" // 通道数
],
"info": {
"video.height": 480, // 视频高度：480像素
"video.width": 640, // 视频宽度：640像素
"video.codec": "av1", // 视频编码格式：AV1
"video.pix_fmt": "yuv420p", // 视频像素格式：yuv420p
"video.is_depth_map": false, // 非深度图
"video.fps": 30, // 视频帧率：30
"video.channels": 3, // 视频通道数：3
"has_audio": false // 无音频轨道
}
},
"timestamp": {
"dtype": "float32", // 数据类型：float32
"shape": [1], // 维度形状：单值
"names": null // 无维度名称
},
"frame_index": {
"dtype": "int64", // 数据类型：int64
"shape": [1], // 维度形状：单值
"names": null // 无维度名称
},
"episode_index": {
"dtype": "int64", // 数据类型：int64
"shape": [1], // 维度形状：单值
"names": null // 无维度名称
},
"index": {
"dtype": "int64", // 数据类型：int64
"shape": [1], // 维度形状：单值
"names": null // 无维度名称
},
"task_index": {
"dtype": "int64", // 数据类型：int64
"shape": [1], // 维度形状：单值
"names": null // 无维度名称
}
}
}
## 引用
**BibTeX格式引用：**
bibtex
[需补充更多信息]
提供机构：
hjkso1406
