so101_pick_cube_50eps
收藏资源简介：
该数据集由LeRobot创建，专注于机器人技术领域，适用于机器人控制或强化学习任务。它包含多个特征：动作数据（如肩部、肘部、腕部和夹爪的位置信息）、观测状态（反映机器人关节位置，与动作数据类似）、来自前置摄像头的图像观测（分辨率为480x640，3通道）、时间戳、帧索引、剧集索引、索引和任务索引。数据以Parquet文件格式存储，视频文件以MP4格式提供，帧率为30fps。机器人类型为so_follower，数据集结构支持分块处理，便于训练和评估机器人模型。
This dataset is created by LeRobot and focuses on the field of robotics, suitable for robot control or reinforcement learning tasks. It includes multiple features: action data (such as position information for shoulders, elbows, wrists, and grippers), observation states (reflecting robot joint positions, similar to action data), image observations from a front-facing camera (with a resolution of 480x640, 3 channels), timestamps, frame indices, episode indices, indices, and task indices. The data is stored in Parquet file format, with video files provided in MP4 format at a frame rate of 30fps. The robot type is so_follower, and the dataset structure supports chunked processing, facilitating the training and evaluation of robot models.
数据集概述
- 名称: so101_pick_cube_50eps
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: LeRobot
数据集描述
- 机器人类型: so_follower
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 分块大小: 1000
数据集结构
- 配置:
default - 数据文件路径:
data/*/*.parquet - 数据路径格式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径格式:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 包含6个关节动作: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | [6] | 机器人状态，与action维度及名称一致 |
observation.images.front |
video | [480, 640, 3] | 前视摄像头视频，分辨率为480x640，RGB三通道 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 回合索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
