single_so101_cubes

该数据集由LeRobot创建，用于机器人学任务，具体为跟随者机器人（so_follower）的演示数据。数据集包含70个episodes，共30406帧，帧率为25fps。数据以Parquet格式存储，视频文件为MP4格式。特征包括：动作（6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）、观测状态（与动作相同的6个关节位置）、两个视角的图像观测（顶部摄像头和腕部摄像头，分辨率均为480x640，3通道RGB视频），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集仅包含训练集（所有episodes），数据文件总大小约100MB，视频文件总大小约200MB。This dataset was developed by LeRobot for robotics applications, specifically containing demonstration data for the follower robot (so_follower). It consists of 70 episodes, totaling 30,406 frames with a frame rate of 25 fps. The structured data is stored in Parquet format, while the video files are saved in MP4 format. The dataset includes the following features: actions (6 joint positions: shoulder translation, shoulder elevation/depression, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (the same 6 joint positions as the actions), image observations from two viewpoints (top camera and wrist camera, both with 480×640 resolution and 3-channel RGB videos), as well as metadata such as timestamps, frame indices, episode indices, task indices and other related information. The dataset only provides a training split containing all episodes, with a total size of approximately 100 MB for the structured data files and around 200 MB for the video files.

原始信息汇总

数据集概述

• 数据集名称: single_so101_cubes
• 许可协议: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: 基于 LeRobot 框架创建

数据集结构

• 机器人类型: so_follower
• 总片段数 (Episodes): 70
• 总帧数 (Frames): 30,406
• 总任务数: 1
• 分块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 25
• 数据集划分: 全部用于训练 (train: 0:70)

数据特征

动作与状态

• action: 6维浮点数组，包含肩部和腕部关节位置及夹爪位置
  • 关节名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
• observation.state: 与 action 相同的6维状态信息

图像观测

• observation.images.top: 俯视摄像头图像
  • 分辨率: 480×640 像素，3 通道 (RGB)
  • 视频编码: AV1，帧率 25 FPS
  • 不包含深度图，无音频
• observation.images.wrist: 腕部摄像头图像
  • 分辨率: 480×640 像素，3 通道 (RGB)
  • 视频编码: AV1，帧率 25 FPS
  • 不包含深度图，无音频

其他字段

• timestamp: 时间戳 (float32)
• frame_index: 帧索引 (int64)
• episode_index: 片段索引 (int64)
• index: 全局索引 (int64)
• task_index: 任务索引 (int64)

数据存储路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

引用信息

• 引用格式: 暂缺 (More Information Needed)