so101_pick_red_cube_tray_sim_50_v29_homehold_success
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于模拟环境中的机器人任务。它包含50个episodes，总计88696帧，帧率为30fps。数据以Parquet文件格式存储，视频以MP4格式存储。特征包括：动作数据（6维浮点数组，表示机器人关节位置，包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（6维浮点数组，与动作数据相同）、来自三个摄像头的图像观测（每个摄像头输出480x640分辨率的RGB视频，3个通道），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集用于训练和评估机器人控制算法，具体任务涉及拾取红色立方体托盘，但未在描述中详细说明。数据集结构支持机器学习模型训练，适用于机器人动作预测和视觉感知任务。
This dataset is a robotics dataset created using the LeRobot tool, focusing on robot tasks in simulated environments. It contains 50 episodes, totaling 88,696 frames at a frame rate of 30fps. The data is stored in Parquet file format, with videos in MP4 format. Features include: action data (a 6-dimensional floating-point array representing robot joint positions, including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation state (a 6-dimensional floating-point array, same as action data), image observations from three cameras (each camera outputs RGB video at 480x640 resolution with 3 channels), and metadata such as timestamps, frame indices, episode indices, and task indices. The dataset is used for training and evaluating robot control algorithms, with specific tasks involving picking up a red cube tray, though not detailed in the description. The dataset structure supports machine learning model training and is suitable for robot action prediction and visual perception tasks.
数据集概述
- 数据集名称:
so101_pick_red_cube_tray_sim_50_v29_homehold_success - 许可证: Apache-2.0
- 任务类别: 机器人学（robotics）
- 标签: LeRobot
数据集规模
- 总片段数（episodes）: 50
- 总帧数: 88,696
- 总任务数: 1
- 帧率（FPS）: 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据集划分: 训练集（train）包含全部50个片段
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 数据分块（chunk）大小: 1000
- 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
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 动作：包含6个关节位置（肩部旋转、肩部升降、肘部弯曲、手腕弯曲、手腕旋转、夹爪） |
observation.state |
float32 | (6,) | 观察状态：与动作相同的6个关节位置 |
observation.images.camera1 |
video | (480, 640, 3) | 摄像头1视频：分辨率480x640，H.264编码，30 FPS |
observation.images.camera2 |
video | (480, 640, 3) | 摄像头2视频：分辨率480x640，H.264编码，30 FPS |
observation.images.camera3 |
video | (480, 640, 3) | 摄像头3视频：分辨率480x640，H.264编码，30 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,) | 索引 |
task_index |
int64 | (1,) | 任务索引 |
