so101_placeeraser7_20260613_200557
收藏资源简介：
这是一个使用LeRobot创建的机器人操作数据集，专门用于机器人学习任务。该数据集包含50个训练集，总计6812帧数据，采样频率为15fps。数据特征包括：6维机械臂动作（肩部旋转、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）和对应的6维状态观测；两个视角的图像观测：顶部视角和手部视角，均为480x640分辨率的RGB视频；以及时间戳、帧索引、集索引、任务索引等元数据。数据集采用Apache 2.0许可证，数据格式为parquet文件，总数据大小约100MB，视频文件大小约200MB。机器人类型为so_follower，所有数据均用于训练。
This is a robotic manipulation dataset developed using LeRobot, specifically tailored for robotic learning tasks. The dataset comprises 50 training splits, with a total of 6812 frames sampled at 15 fps. The data features include: 6-dimensional robotic arm actions (shoulder rotation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and corresponding 6-dimensional state observations; two sets of image observations from a top-down view and a hand-mounted view, both being RGB videos with a resolution of 480x640; as well as metadata such as timestamps, frame indices, split indices, task indices and other related information. The dataset is licensed under Apache 2.0, with its core data stored in Parquet format. The total size of the Parquet data is approximately 100 MB, while the video files amount to around 200 MB. The robotic platform used is so_follower, and all data within this dataset is designated for training purposes.
数据集概述
- 数据集名称：so101_placeeraser7_20260613_200557
- 任务类别：机器人技术（robotics）
- 许可证：Apache-2.0
- 创建工具：LeRobot
数据集结构
- 帧率：15 FPS
- 总片段数：50
- 总帧数：6812
- 总任务数：1
- 机器人类型：so_follower
- 数据划分：
- 训练集：片段索引 0 至 49（共50个片段）
特征描述
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维关节动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | [6] | 6维关节状态，与动作命名相同 |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头图像，AV1编码，15 FPS |
| observation.images.hand | video | [480, 640, 3] | 手部摄像头图像，AV1编码，15 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 |
文件信息
- 数据文件路径格式：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径格式：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据文件总大小：约 100 MB
- 视频文件总大小：约 200 MB
- 数据分块大小：每个块包含 1000 帧
引用信息
- 首页：待补充
- 论文：待补充
- BibTeX：待补充
