so101_desk_trash2
收藏资源简介：
该数据集由LeRobot创建，专门用于机器人学习任务。它包含8个episodes，总计3461帧，帧率为30fps。数据以parquet文件和mp4视频文件形式存储，总大小为300MB（其中数据文件100MB，视频文件200MB）。数据集特征包括：动作（6维浮点数组，对应机械臂的关节位置：shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos、gripper.pos）、状态观测（与动作相同的6维关节位置）、前摄像头图像（480x640 RGB视频，无音频），以及时间戳、帧索引、episode索引、索引和任务索引。数据集仅包含一个任务类型，机器人类型为“so_follower”。数据分割为训练集，涵盖episodes 0到7。
This dataset was created by LeRobot and is specifically developed for robotic learning tasks. It contains 8 episodes, totaling 3461 frames at a frame rate of 30fps. The data is stored in both Parquet files and MP4 video files, with an overall size of 300MB (100MB for data files and 200MB for video files). The dataset includes the following features: actions (6-dimensional floating-point arrays corresponding to the joint positions of the robotic arm: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos), state observations (6-dimensional joint positions identical to the actions), front camera videos (480x640 RGB videos with no audio), as well as timestamps, frame indices, episode indices, sample indices, and task indices. The dataset only covers one task type, with the robot type being "so_follower". The entire dataset is split into a training set that includes episodes 0 through 7.
数据集概述
so101_desk_trash2 是一个机器人操作数据集，使用 LeRobot 框架创建，采用 Apache-2.0 许可证。
数据集规模
- 总片段数: 8
- 总帧数: 3461
- 总任务数: 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 帧率: 30 FPS
- 训练集划分: 全部 8 个片段用于训练
机器人类型
- 机器人型号: so_follower
数据特征
- 动作 (action):
- 数据类型: float32
- 维度: 6
- 变量: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
- 观测状态 (observation.state):
- 数据类型: float32
- 维度: 6
- 变量: 与动作变量相同
- 图像观测 (observation.images.front):
- 数据类型: 视频
- 分辨率: 640 x 480
- 编码格式: AV1
- 帧率: 30 FPS
- 其它特征: 时间戳 (timestamp)、帧索引 (frame_index)、片段索引 (episode_index)、全局索引 (index)、任务索引 (task_index)
数据存储
- 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
