so101-red-cube-on-green-square-1-50
收藏资源简介：
该数据集是一个机器人控制数据集，专门用于训练和评估机器人操作任务。它包含51个完整的任务片段（episodes），总帧数达62562，以30帧/秒的速率采集。数据内容涵盖：机械臂的动作（包括肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置共6个关节位置）、状态观测（与动作相同的6个关节位置）、来自夹爪摄像头和俯视摄像头的视频观测（分辨率均为480x640像素，3通道RGB视频），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集针对so_follower类型的机器人设计，任务涉及将红色立方体放置在绿色方块上（从数据集名称推断），适用于机器人学习、模仿学习或强化学习研究。数据以Parquet文件格式存储，视频文件使用AV1编解码器，总数据大小约为100MB，视频文件大小约为200MB。
This dataset is a robot control dataset specifically designed for training and evaluating robot manipulation tasks. It contains 51 complete task episodes with a total of 62,562 frames collected at 30 frames per second. The data includes: robot arm actions (6 joint positions: shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), state observations (the same 6 joint positions as actions), video observations from a gripper camera and an overhead camera (both with a resolution of 480x640 pixels, 3-channel RGB video), and metadata such as timestamps, frame indices, episode indices, and task indices. The dataset is tailored for so_follower type robots, with tasks involving placing a red cube on a green square (inferred from the dataset name), and is suitable for research in robot learning, imitation learning, or reinforcement learning. The data is stored in Parquet file format, with video files using the AV1 codec; the total data size is approximately 100MB, and the video file size is about 200MB.
数据集概要
- 数据集名称: so101-red-cube-on-green-square-1-50
- 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 框架创建
数据集结构
- 总片段数 (total_episodes): 51
- 总帧数 (total_frames): 62,562
- 总任务数 (total_tasks): 1
- 帧率 (fps): 30
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 机器人类型: so_follower
特征字段
| 字段名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作，包含6个关节位置（肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪） |
| observation.state | float32 | [6] | 机器人状态观察，与动作字段相同 |
| observation.images.gripper | video | [480, 640, 3] | 夹爪摄像头视频，分辨率480x640，RGB三通道，帧率30fps，编码器av1 |
| observation.images.overhead | video | [480, 640, 3] | 俯瞰摄像头视频，分辨率480x640，RGB三通道，帧率30fps，编码器av1 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据划分
- 训练集 (train): 包含0到50号片段，共51个片段
数据文件路径格式
- 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
引用信息
- 当前无具体引用格式，需更多信息补充
