so101-3.0-red-cube-on-green-square-38-45-ep_20260628_023207
收藏资源简介：
这是一个使用LeRobot创建的机器人操作数据集，专注于机器人技术任务。数据集包含8个episodes，总计11570帧，涉及一个任务。数据特征包括6维浮点动作（如肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）和观察状态（同样为6维浮点状态），以及两个摄像头视频流：夹爪摄像头和俯视摄像头，均以30fps、480x640分辨率、3通道的AV1编码视频提供。其他元数据包括时间戳、帧索引、episode索引、任务索引等。数据以parquet文件存储，视频以mp4文件存储，总数据大小约100MB，视频大小约200MB。机器人类型为so_follower，数据集适用于训练和评估机器人控制模型。
This is a robot manipulation dataset created using LeRobot, focusing on robotic technology tasks. The dataset contains 8 episodes, totaling 11570 frames, involving one task. Data features include 6-dimensional floating-point actions (such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and observation states (also 6-dimensional floating-point states), as well as two camera video streams: a gripper camera and an overhead camera, both provided as AV1-encoded videos at 30fps with a resolution of 480x640 and 3 channels. Other metadata includes timestamps, frame indices, episode indices, task indices, etc. The data is stored in parquet files, and videos are stored in mp4 files, with a total data size of approximately 100MB and video size of about 200MB. The robot type is so_follower, and the dataset is suitable for training and evaluating robot control models.
数据集概况
- 数据集名称：so101-3.0-red-cube-on-green-square-38-45-ep_20260628_023207
- 许可证：Apache-2.0
- 任务类别：机器人学 (Robotics)
- 标签：LeRobot
- 数据集创建工具：LeRobot (https://github.com/huggingface/lerobot)
数据集结构
- 代码库版本：v3.0
- 帧率（FPS）：30
- 机器人类型：so_follower
数据特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 动作指令，包含：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | [6] | 机器人状态观测，与动作字段的关节名称相同 |
observation.images.gripper |
视频 | [480, 640, 3] | 夹爪摄像头图像，分辨率480x640，3通道，编码为AV1，帧率30 |
observation.images.overhead |
视频 | [480, 640, 3] | 俯视摄像头图像，分辨率480x640，3通道，编码为AV1，帧率30 |
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 |
数据集规模
- 总片段数 (Total Episodes)：8
- 总帧数 (Total Frames)：11570
- 总任务数 (Total Tasks)：1
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 数据划分：训练集 (train) 使用片段0至7（共8个片段）
文件存储路径
- 数据文件路径：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
