so101_pick_eraser_5hz
收藏资源简介：
该数据集是一个机器人操作数据集，由LeRobot工具创建，专注于机器人拾取橡皮擦的任务。数据集包含16个总剧集和9584个总帧，数据以parquet格式存储，视频文件为MP4格式。特征包括机器人的动作（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）和观察状态（包括手腕和顶部摄像头的图像，分辨率为640x480，帧率为30fps）。机器人类型为“so_follower”，数据集适用于训练和评估机器人控制算法，支持30fps的视频流和关节位置数据。
This is a robotic manipulation dataset created using the LeRobot toolkit, focusing on the robotic eraser picking task. It contains 16 total episodes and 9584 total frames. The dataset stores data in parquet format, with video files in MP4 format. Its features include robotic actions such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position, as well as sensory observations: images captured by both the wrist and top cameras, with a resolution of 640×480 and a frame rate of 30 fps. The robotic platform is of the "so_follower" type. This dataset is suitable for training and evaluating robotic control algorithms, and supports 30 fps video streams and joint position data.
数据集总览
- 数据集名称: so101_pick_eraser_5hz
- 创建工具: LeRobot
- 许可证: Apache-2.0
- 任务类别: 机器人 (Robotics)
数据集结构
- 数据格式: Parquet 文件, 路径为
data/*/*.parquet - 总片段数 (Episodes): 16
- 总帧数 (Frames): 9,584
- 总任务数 (Tasks): 1
- 帧率 (FPS): 30
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 机器人类型: so_follower
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 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] | 6个关节状态 (与动作相同) |
observation.images.wrist |
video | [480, 640, 3] | 腕部摄像头, 分辨率 640x480, AV1 编码, 30 FPS |
observation.images.top |
video | [480, 640, 3] | 顶部摄像头, 分辨率 640x480, AV1 编码, 30 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 |
数据集划分
- 训练集 (Train): 片段 0 到 15 (共16个片段)
其他信息
- 数据集主页: 未提供
- 论文: 未提供
- 引用格式: 未提供 (BibTeX 待补充)
