so100_cr_pick_06_20260609_121925

这是一个使用LeRobot框架创建的机器人操作数据集。数据集包含50个episodes，总计24,768帧数据，帧率为30fps。特征包括：6维动作向量（控制肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；6维状态观测（与动作相同的关节位置）；两个摄像头视频流观测（腕部摄像头和顶部摄像头，分辨率均为480x640，3通道彩色视频，AV1编码）；以及时间戳、帧索引、episode索引等元数据。机器人类型为so_follower，数据以parquet格式存储，视频以mp4格式存储，总数据大小约300MB（数据文件100MB，视频文件200MB）。数据集仅包含训练分割，涵盖单个任务。This is a robot manipulation dataset created using the LeRobot framework. The dataset contains 50 episodes, totaling 24,768 frames with a frame rate of 30fps. Features include: a 6-dimensional action vector (controlling shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position); a 6-dimensional state observation (joint positions identical to the actions); two camera video stream observations (wrist camera and top camera, both with a resolution of 480x640, 3-channel color video, AV1 encoding); and metadata such as timestamps, frame indices, and episode indices. The robot type is so_follower, data is stored in parquet format, videos are stored in mp4 format, and the total data size is approximately 300MB (100MB for data files and 200MB for video files). The dataset includes only a training split and covers a single task.

原始信息汇总

数据集概述

• 数据集名称: so100_cr_pick_06_20260609_121925
• 许可证: Apache-2.0
• 任务类别: 机器人技术 (Robotics)
• 标签: LeRobot, robotics, lerobot, LeLab

数据集结构

• 总片段数 (Total Episodes): 50
• 总帧数 (Total Frames): 24,768
• 总任务数 (Total Tasks): 1
• 帧率 (FPS): 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower
• 训练/测试划分: 训练集包含所有50个片段 (split: train: "0:50")

特征 (Features)

特征名	数据类型	形状	描述
action	float32	[6]	6维动作指令：肩关节位置、肘关节位置、腕关节位置、腕部滚动、夹爪位置
observation.state	float32	[6]	6维观测状态，与 action 结构相同
observation.images.wristCam	video	[480, 640, 3]	腕部摄像头视频，分辨率 480x640，编码 AV1，30 FPS
observation.images.topCam	video	[480, 640, 3]	顶部摄像头视频，分辨率 480x640，编码 AV1，30 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]	全局索引
task_index	int64	[1]	任务索引

其他信息

• 创建工具: 该数据集使用 LeRobot 创建。
• 可视化: 可通过 可视化页面 预览数据集内容。
• 引用: 暂无引用信息。