batch1
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学任务，包含8个训练片段，总计4249帧，帧率为30fps。数据采用parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集特征包括观察状态（6个浮点数，代表肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪状态）、动作（6个浮点数，与观察状态相同维度）、观察图像（场景图像和腕部图像，均为480x640x3的RGB图像）、时间戳、帧索引、片段索引、索引和任务索引。机器人类型为so101_follower，适用于机器人控制和学习任务。
This dataset is created by LeRobot and focuses on robotics tasks. It contains 8 training segments, totaling 4249 frames with a frame rate of 30fps. The data is stored in parquet format, with a total data file size of 100MB and a video file size of 200MB. The dataset features include observation state (6 floating-point numbers representing shoulder translation, shoulder elevation, elbow bend, wrist bend, wrist rotation, and gripper state), action (6 floating-point numbers with the same dimensions as observation state), observation images (scene image and wrist image, both RGB images of 480x640x3), timestamp, frame index, segment index, index, and task index. The robot type is so101_follower, suitable for robot control and learning tasks.
- 许可证: Apache-2.0
- 任务类别: 机器人
- 标签: LeRobot
数据集描述
- 主页: 待补充
- 论文: 待补充
- 许可证: Apache-2.0
数据集结构
基于 meta/info.json：
- 代码版本: v3.0
- 机器人类型: so101_follower
- 总片段数: 8
- 总帧数: 4249
- 总任务数: 1
- 数据块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 FPS
- 分割: 训练集 (0:8)
特征
| 特征名 | 数据类型 | 形状 | 名称 |
|---|---|---|---|
| observation.state | float32 | [6] | shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| action | float32 | [6] | shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.images.scene | image | [480, 640, 3] | height, width, channels |
| observation.images.wrist | image | [480, 640, 3] | height, width, channels |
| timestamp | float32 | [1] | 无 |
| frame_index | int64 | [1] | 无 |
| episode_index | int64 | [1] | 无 |
| index | int64 | [1] | 无 |
| task_index | int64 | [1] | 无 |
