so101-write

该数据集是一个用于机器人任务的数据集，由LeRobot创建。数据集包含100个episodes，共41995帧，覆盖10个不同任务，帧率为30fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括：动作数据（6个关节位置：肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转、夹爪位置）、观测状态（与动作相同的6个关节位置）、手腕摄像头图像观测（分辨率480x640，3通道彩色视频）和顶部摄像头图像观测（分辨率480x848，3通道彩色视频），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集用于训练和评估机器人控制模型，适用于强化学习或模仿学习场景。

This dataset is designed for robot tasks and was created by LeRobot. It contains 100 episodes, totaling 41,995 frames, covering 10 different tasks with a frame rate of 30fps. The data is stored in parquet format, with a total data file size of 100MB and a video file size of 200MB. The dataset features include: action data (6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, gripper position), observation state (the same 6 joint positions as actions), wrist camera image observations (resolution 480x640, 3-channel color video) and top camera image observations (resolution 480x848, 3-channel color video), as well as metadata such as timestamps, frame index, episode index, and task index. The dataset is used for training and evaluating robot control models, suitable for reinforcement learning or imitation learning scenarios.

原始信息汇总

数据集总览

基本信息

• 数据集名称: so101-write
• 许可证: Apache-2.0
• 任务类别: 机器人 (Robotics)
• 标签: LeRobot
• 创建工具: LeRobot

数据集规模

• 总片段数 (Episodes): 100
• 总帧数 (Frames): 41,995
• 总任务数 (Tasks): 10
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据分块: 每块 1000 帧 (chunks_size: 1000)
• 数据划分: 训练集 (train) 为 0-99 号片段

机器人类型

• 机器人型号: so_follower

数据格式

• 数据文件路径: data/*/*.parquet
• 视频文件路径: videos/*/*/*.mp4
• 元数据文件: meta/info.json

特征 (Features)

特征名	数据类型	形状 (Shape)	说明
action	float32	(6,)	6个关节/执行器位置控制指令 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
observation.state	float32	(6,)	6个关节/执行器位置观测 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
observation.images.wrist	video	(480, 640, 3)	腕部摄像头视频，分辨率 480x640，3 通道，AV1 编码，30 FPS
observation.images.top	video	(480, 848, 3)	顶部摄像头视频，分辨率 480x848，3 通道，AV1 编码，30 FPS
timestamp	float32	(1,)	时间戳
frame_index	int64	(1,)	帧索引
episode_index	int64	(1,)	片段索引
index	int64	(1,)	全局索引
task_index	int64	(1,)	任务索引

可视化

• 可视化链接: Visualize this dataset