eval_so101_put_the_block02
收藏资源简介：
该数据集使用LeRobot创建，专为机器人技术任务设计，具体针对so_follower机器人类型。数据集包含多个episodes和frames，但总数显示为0，可能表示数据未完全统计。数据以parquet格式存储，视频文件以mp4格式存储。特征包括动作（action）和观测（observation），其中动作包含6个浮点数，表示机器人关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）；观测包括状态（同样为6个浮点数关节位置）和图像（来自正面和侧面的视频，分辨率为480x640，3通道）。此外，还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集采用Apache 2.0许可证，帧率为30fps，数据分块存储，每个chunk大小为1000。
This dataset was constructed using LeRobot, and is specifically designed for robotics tasks targeting the so_follower robot type. The dataset contains multiple episodes and frames, but the total count is displayed as 0, which may indicate that the data has not been fully statistically compiled. The primary data is stored in Parquet format, while the video files are saved in MP4 format. The dataset features include action and observation. The action consists of 6 floating-point numbers representing the robot's joint positions, such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation includes two components: state (also 6 floating-point joint positions) and images (videos captured from front and side views, with a resolution of 480x640 and 3 channels). Additionally, it contains metadata such as timestamps, frame index, episode index, sample index, and task index. This dataset is licensed under Apache 2.0, with a frame rate of 30 fps. The data is stored in chunks, with each chunk having a size of 1000 entries.
数据集概述
数据集名称：eval_so101_put_the_block02
许可证：Apache-2.0
任务类别：机器人学（robotics）
标签：LeRobot
数据集来源与创建
数据集结构
- 代码库版本：v3.0
- 机器人类型：so_follower
- 采样频率：30 fps
- 数据块大小：1000 帧/块
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 总片段数：0
- 总帧数：0
- 总任务数：0
数据特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含肩关节旋转、抬升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | [6] | 与动作相同的6个关节状态 |
| observation.images.front | video | [480, 640, 3] | 前方摄像头图像 |
| observation.images.side | video | [480, 640, 3] | 侧面摄像头图像 |
| 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 |
文件路径结构
- 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 - 数据文件格式：Parquet
- 视频文件格式：MP4
引用信息
- 论文和主页信息暂未提供，引用格式待补充。
