yeiweng/smolvla_base

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - so100 - smovla 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": "so100", "total_episodes": 30, "total_frames": 8970, "total_tasks": 1, "total_videos": 60, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:30" }, "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": { "action": { "dtype": "float32", "shape": [ 6 ], "names": [ "main_shoulder_pan", "main_shoulder_lift", "main_elbow_flex", "main_wrist_flex", "main_wrist_roll", "main_gripper" ] }, "observation.state": { "dtype": "float32", "shape": [ 6 ], "names": [ "main_shoulder_pan", "main_shoulder_lift", "main_elbow_flex", "main_wrist_flex", "main_wrist_roll", "main_gripper" ] }, "observation.images.laptop": { "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.phone": { "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] ```--- 许可协议: apache-2.0 任务类别: - 机器人学 标签: - LeRobot - so100 - smovla 配置项: - 配置名称: default 数据文件路径: data/*/*.parquet --- 本数据集基于 [LeRobot](https://github.com/huggingface/lerobot) 开发构建。 ## 数据集说明 - **主页:** [更多信息待补充] - **论文:** [更多信息待补充] - **许可协议:** apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "代码库版本": "v2.1", "机器人类型": "so100", "总回合数": 30, "总帧数": 8970, "总任务数": 1, "总视频数": 60, "总数据块数": 1, "数据块大小": 1000, "帧率": 30, "数据集划分": { "训练集": "0:30" }, "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", "数据特征": { "动作": { "数据类型": "float32", "形状": [ 6 ], "维度名称": [ "主肩关节旋前", "主肩关节上抬", "主肘关节屈曲", "主腕关节屈曲", "主腕关节旋前", "主夹爪" ] }, "观测.状态": { "数据类型": "float32", "形状": [ 6 ], "维度名称": [ "主肩关节旋前", "主肩关节上抬", "主肘关节屈曲", "主腕关节屈曲", "主腕关节旋前", "主夹爪" ] }, "观测.图像.笔记本摄像头": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.手机摄像头": { "数据类型": "video", "形状": [ 480, 640, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频.高度": 480, "视频.宽度": 640, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX:** bibtex [更多信息待补充]