nc8304/so101_032326_white_back_032726_v4

---
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=nc8304/so101_032326_white_back_032726_v4">
<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": 1,
"total_frames": 363,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.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]
```

---
许可证：Apache-2.0
任务类别：
- 机器人学（robotics）
标签：
- LeRobot(LeRobot)
配置：
- 配置名称：默认配置
数据文件：data/*/*.parquet
---

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=nc8304/so101_032326_white_back_032726_v4">
<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：** [更多信息待补充]
- **论文：** [更多信息待补充]
- **许可证：** Apache-2.0

## 数据集结构
`[meta/info.json]`：
json
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 363,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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（动作）": {
"dtype（数据类型）": "float32（32位浮点型）",
"names（维度名称）": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape（形状）": [
6
]
},
"observation.state（观测状态）": {
"dtype（数据类型）": "float32（32位浮点型）",
"names（维度名称）": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape（形状）": [
6
]
},
"observation.images.front（前部观测图像）": {
"dtype（数据类型）": "video",
"shape（形状）": [
480,
640,
3
],
"names（维度名称）": [
"height",
"width",
"channels"
],
"info（详细信息）": {
"video.height（视频高度）": 480,
"video.width（视频宽度）": 640,
"video.codec（编码格式）": "av1（AV1编码格式）",
"video.pix_fmt（像素格式）": "yuv420p（YUV420p像素格式）",
"video.is_depth_map（是否为深度图）": false,
"video.fps（视频帧率）": 30,
"video.channels（视频通道数）": 3,
"has_audio（是否含音频）": false
}
},
"timestamp（时间戳）": {
"dtype（数据类型）": "float32（32位浮点型）",
"shape（形状）": [
1
],
"names（维度名称）": null
},
"frame_index（帧索引）": {
"dtype（数据类型）": "int64（64位整型）",
"shape（形状）": [
1
],
"names（维度名称）": null
},
"episode_index（回合索引）": {
"dtype（数据类型）": "int64（64位整型）",
"shape（形状）": [
1
],
"names（维度名称）": null
},
"index（全局索引）": {
"dtype（数据类型）": "int64（64位整型）",
"shape（形状）": [
1
],
"names（维度名称）": null
},
"task_index（任务索引）": {
"dtype（数据类型）": "int64（64位整型）",
"shape（形状）": [
1
],
"names（维度名称）": null
}
}
}

## 引用
**BibTeX格式引用：**
bibtex
[更多信息待补充]