so101_task_putinto_20260529_150522
收藏资源简介：
该数据集是通过LeRobot工具创建的，专为机器人学任务设计，具体任务为so101_task_putinto_20260529_150522，可能涉及将物体放入某处的操作。数据集包含242帧数据，分为1个剧集和1个任务，数据以Parquet格式存储。特征包括机器人动作（如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（与动作相同的关节位置）、固定摄像头和手眼摄像头的视频观测（分辨率为480x640，3通道，帧率为15fps），以及时间戳、帧索引、剧集索引等元数据。机器人类型为so_follower，数据集总大小约为300MB（数据文件100MB，视频文件200MB），适用于训练机器人控制模型。
This dataset is created using the LeRobot tool and is specifically designed for robotics tasks, with the specific task being so101_task_putinto_20260529_150522, which may involve operations such as placing objects into a location. It contains 242 frames of data, divided into 1 episode and 1 task, stored in Parquet format. Features include robot actions (e.g., shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), observation states (joint positions identical to actions), video observations from fixed and hand-eye cameras (resolution 480x640, 3 channels, frame rate 15fps), as well as metadata such as timestamps, frame indices, and episode indices. The robot type is so_follower, and the total dataset size is approximately 300MB (100MB for data files and 200MB for video files), suitable for training robot control models.
数据集概述
- 名称: so101_task_putinto_20260529_150522
- 创建工具: 使用 LeRobot 创建
- 许可证: Apache-2.0
- 任务类别: 机器人学（robotics）
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 15
- 总片段数: 1
- 总帧数: 242
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: so_follower
- 数据分割: 训练集 (train) 使用第0到第1个片段
特征详情
| 特征名称 | 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] | 观测状态，与动作维度一致 |
| observation.images.fixed | video | [480, 640, 3] | 固定视角摄像头视频，分辨率480x640，3通道，AV1编码，15 FPS |
| observation.images.handeye | video | [480, 640, 3] | 手眼视角摄像头视频，分辨率480x640，3通道，AV1编码，15 FPS |
| 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 |
数据存储格式
- 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
