demo

该数据集是一个机器人学数据集，使用LeRobot工具创建，涉及so101_follower机器人类型。数据集包含一个训练集，总共有1个episode、1198帧和2个视频。数据以parquet格式存储，特征包括动作（由6个浮点数表示关节位置，如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（同样为6个浮点数表示关节位置）、图像观测（包括手眼摄像头和前置摄像头的视频，分辨率均为480x640，3通道，帧率30fps，使用av1编解码器），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集结构基于chunk组织，chunk大小为1000，视频存储在mp4格式中。该数据集适用于机器人控制和模仿学习等任务。This dataset is a robotics dataset created using the LeRobot tool, involving the so101_follower robot type. It contains one training set with a total of 1 episode, 1198 frames, and 2 videos. Data is stored in parquet format, with features including actions (6 floating-point numbers representing joint positions such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (also 6 floating-point numbers for joint positions), image observations (videos from hand-eye and front cameras, with a resolution of 480x640, 3 channels, 30fps frame rate, using the av1 codec), and metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset structure is based on chunks with a size of 1000, and videos are stored in mp4 format. It is suitable for tasks like robot control and imitation learning.

原始信息汇总

数据集概述

• 数据集名称: sheekion/demo
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: 基于 LeRobot 创建

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数据集结构

• 代码库版本: v2.1
• 机器人类型: so101_follower
• 总片段数 (Episodes): 1
• 总帧数 (Frames): 1198
• 总任务数 (Tasks): 1
• 总视频数 (Videos): 2
• 总数据块数 (Chunks): 1
• 数据块大小 (Chunk Size): 1000
• 帧率 (FPS): 30
• 数据划分 (Splits): 仅包含训练集 (train: 0:1)

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数据文件路径

• 数据文件: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频文件: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

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数据集特征

特征名	数据类型	形状	说明
action	float32	[6]	动作数据，包含6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	观察状态，与动作维度一致
observation.images.handeye	video	[480, 640, 3]	手眼相机图像，分辨率480×640，3通道，AV1编码，30fps
observation.images.front	video	[480, 640, 3]	前置相机图像，分辨率480×640，3通道，AV1编码，30fps
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

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引用信息

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