so101-write-0

该数据集使用LeRobot创建，专注于机器人技术领域，具体针对so_follower机器人类型。数据集包含10个完整的情节，总计7036帧，帧率为30fps。数据以parquet文件格式存储，视频文件以mp4格式存储。特征包括动作（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）、观察状态（与动作相同的关节位置）、来自手腕和顶部摄像头的图像观察（分辨率分别为480x640和480x848，RGB通道），以及时间戳、帧索引、情节索引、索引和任务索引等元数据。数据集用于训练和评估机器人控制任务，支持视觉和状态输入。This dataset was created using LeRobot and focuses on the robotics field, specifically for the so_follower robot type. It contains 10 complete episodes, totaling 7036 frames at a frame rate of 30fps. The data is stored in parquet file format, with video files in mp4 format. Features include actions (such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper position), observation states (joint positions identical to actions), image observations from wrist and top cameras (with resolutions of 480x640 and 480x848 respectively, RGB channels), as well as metadata like timestamps, frame index, episode index, index, and task index. The dataset is used for training and evaluating robot control tasks, supporting both visual and state inputs.

原始信息汇总

数据集概要

• 名称: yen-0/so101-write-0
• 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 创建
• 可视化: 可通过 可视化空间 预览

数据集结构

• 代码库版本: v3.0
• 机器人类型: so_follower
• 总片段数 (episodes): 10
• 总帧数 (frames): 7036
• 总任务数 (tasks): 1
• 块大小 (chunks_size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据划分: 训练集 (train) 包含全部10个片段 (0:10)

数据文件路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征 (Features)

特征字段	数据类型	形状	说明
action	float32	[6]	6维动作空间：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	6维状态观测，与动作空间一致
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480×640，AV1编码，30 FPS，无音频
observation.images.top	video	[480, 848, 3]	顶部摄像头视频，分辨率480×848，AV1编码，30 FPS，无音频
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