so101_pick_sharpenr_v3_20260530_095754

该数据集由LeRobot创建，专注于机器人学任务，具体针对so_follower类型机器人的操作。它包含35个episodes，总计20964帧，数据以parquet格式存储，视频以mp4格式存储。特征包括动作（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（与动作相同的关节位置）、顶部图像（480x640分辨率RGB视频）和腕部图像（480x640分辨率RGB视频），以及时间戳、帧索引、episode索引等元数据。数据集用于训练和评估机器人控制模型，支持30fps的视频流和关节状态记录。This dataset was created by LeRobot, focusing on robotics tasks specifically for the operation of so_follower-type robots. It includes 35 episodes with a total of 20964 frames. The data is stored in Parquet format, while the videos are saved in MP4 format. Its features cover actions (such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position), observation states (the same joint positions as the actions), top-view images (480x640 resolution RGB videos) and wrist-view images (480x640 resolution RGB videos), as well as metadata including timestamps, frame indices, episode indices and other relevant information. This dataset is used for training and evaluating robotic control models, and supports 30fps video streams and joint state recording.

原始信息汇总

• 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
• 数据集结构:
  • 代码版本: v3.0
  • 帧率: 30 FPS
  • 总片段数: 35
  • 总帧数: 20964
  • 总任务数: 1
  • 数据文件大小: 100 MB
  • 视频文件大小: 200 MB
  • 机器人类型: so_follower
  • 数据划分: 训练集 (片段 0-34)
• 特征:
  • 动作 (action): 6维浮点数组，包括 shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
  • 观测状态 (observation.state): 6维浮点数组，与动作同名
  • 观测图像:
    • 顶部摄像头 (observation.images.top): 视频，分辨率 480×640，3通道，AV1编码，30 FPS
    • 腕部摄像头 (observation.images.wrist): 视频，分辨率 480×640，3通道，AV1编码，30 FPS
  • 时间戳 (timestamp): 单精度浮点数
  • 帧索引 (frame_index): 64位整数
  • 片段索引 (episode_index): 64位整数
  • 索引 (index): 64位整数
  • 任务索引 (task_index): 64位整数
• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4