so101_260629_1_20260628_141400
收藏资源简介：
该数据集是由LeRobot创建的机器人数据集，专门用于机器人任务。它包含机器人的动作和观察数据：动作数据包括6个关节位置（如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置），观察数据包括相同的关节状态和来自前摄像头的视频观察，视频分辨率为480x640、3通道、30帧每秒。数据集总共有2个episodes和1198帧，数据以parquet格式和mp4视频文件格式存储，总大小约为300MB。数据集结构还包括时间戳、帧索引、episode索引等元数据，适用于机器人学习和控制任务。
This robotic dataset was developed by LeRobot for specialized robotics tasks. It comprises two types of data: robot action data and observation data. The action data includes 6 joint positions, namely shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position. The observation data covers the identical joint states as well as video footage captured by the front-facing camera, with the video specifications set to 480×640 resolution, 3 color channels, and 30 frames per second. In total, the dataset contains 2 episodes and 1198 frames, with data stored in both Parquet format and MP4 video files, with an overall size of approximately 300 MB. Additionally, the dataset structure includes metadata such as timestamps, frame indices, and episode indices, making it applicable to robotics learning and control tasks.
数据集概述
数据集名称: so101_260629_1_20260628_141400
许可协议: Apache-2.0
任务类别: 机器人学 (robotics)
创建工具: LeRobot
数据集结构
- 总片数 (Episodes): 2
- 总帧数 (Frames): 1198
- 总任务数 (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 - 数据集划分: 仅包含训练集 (
train: 0:2)
特征 (Features)
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (6,) | 动作：包含6个关节位置（肩部旋转、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置） |
observation.state |
float32 | (6,) | 观察状态：与动作相同的6个关节位置 |
observation.images.front |
video (AV1编码) | (480, 640, 3) | 前方摄像头视频，分辨率480x640，3通道彩色，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,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据文件结构
- 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 - 分块大小: 1000 帧/块
