makermods_Cattoy
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学任务，具体针对so101_follower机器人类型。数据集包含10个episodes，总计8999帧，帧率为30fps。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为500MB。数据集结构包括以下特征：动作数据（6维浮点数组，表示关节位置如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、观测状态（与动作数据相同的6维关节位置）、前摄像头和手部摄像头的视频数据（分辨率240x320，3通道，AV1编码，无音频），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。所有数据仅用于训练分割。
This dataset is created by LeRobot and focuses on robotics tasks, specifically for the so101_follower robot type. It contains 10 episodes, totaling 8999 frames 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 500MB. The dataset structure includes the following features: action data (a 6-dimensional floating-point array representing joint positions such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position), observation state (the same 6-dimensional joint positions as the action data), video data from the front camera and hand camera (resolution 240x320, 3 channels, AV1 encoding, no audio), as well as metadata such as timestamps, frame index, episode index, index, and task index. All data is exclusively used for training splits.
数据集概述：Alan49chan/makermods_Cattoy
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot (https://github.com/huggingface/lerobot) 创建
数据集结构
- 机器人类型: so101_follower
- 总片段数: 10
- 总帧数: 8999
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 500 MB
- 帧率: 30 FPS
- 数据分割: 全部 10 个片段用于训练 (train: 0:10)
数据格式
- 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
- 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征字段
该数据集包含以下特征：
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作，包含 6 个维度的位置控制：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.state | float32 | [6] | 机器人观测状态，与动作维度相同，包含 6 个关节位置 |
| observation.images.front_cam | video (AV1) | [240, 320, 3] | 前视摄像头视频，分辨率 240x320，3 通道彩色，30 FPS，AV1 编码 |
| observation.images.hand_cam | video (AV1) | [240, 320, 3] | 手部摄像头视频，分辨率 240x320，3 通道彩色，30 FPS，AV1 编码 |
| 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 |
