so101-fold-towel-2camera-14_20260718_194210

该数据集是一个机器人操作数据集，专注于折叠毛巾任务，使用LeRobot平台创建。数据集包含5个总episodes和2908个总帧，数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。特征包括动作（如肩部、肘部、腕部和夹爪的位置）、观察状态（关节位置和来自手腕及顶部摄像头的图像，图像分辨率为480x640，30fps，编码为av1），以及时间戳、帧索引、episode索引等元数据。机器人类型为so_follower，适用于机器人学习和控制任务。This dataset is a robotic manipulation dataset focused on the towel-folding task, developed using the LeRobot platform. It consists of 5 total episodes and 2908 total frames, stored in Parquet format, with a total data file size of 100 MB and a video file size of 200 MB. The included features are actions (e.g., positions of the shoulder, elbow, wrist, and gripper), observation states (joint positions and images captured by the wrist and top cameras, with an image resolution of 480×640, 30 fps, encoded in AV1), as well as metadata such as timestamps, frame indices, and episode indices. The robot type is so_follower, which is applicable for robotic learning and control tasks.

原始信息汇总

数据集概述

• 名称: so101-fold-towel-2camera-14_20260718_194210
• 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

数据结构

特征名	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]	与动作相同的6个关节状态
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480x640，AV1编码，30fps
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480x640，AV1编码，30fps
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

统计信息

• 总片段数: 5
• 总帧数: 2908
• 总任务数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 机器人类型: so_follower
• 数据划分: 全部5个片段用于训练 (train: 0:5)
• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4