so100_test6

该数据集是使用LeRobot创建的，主要用于机器人相关任务。数据集包含3个总集数，442个总帧数，1个总任务数，6个总视频数，1个总块数，块大小为1000，帧率为30。数据集的特征包括动作、观察状态、观察图像（笔记本电脑和手机）、时间戳、帧索引、集索引、索引和任务索引。动作和观察状态的数据类型为float32，形状为6，分别对应主肩部旋转、主肩部提升、主肘部弯曲、主腕部弯曲、主腕部滚动和主夹持器。观察图像的数据类型为视频，形状为480x640x3，分别对应高度、宽度和通道。时间戳、帧索引、集索引、索引和任务索引的数据类型分别为float32和int64，形状为1。

This dataset was developed using the LeRobot framework, and is primarily designed for robotics-related tasks. It comprises 3 total episodes, 442 total frames, 1 total task, 6 total videos, and 1 total chunk, with a chunk size of 1000 and a frame rate of 30. The dataset includes the following features: actions, observation states, observation images (for laptop and phone), timestamps, frame indices, episode indices, indices, and task indices. Both actions and observation states are of float32 data type with a shape of 6, which correspond in order to main shoulder rotation, main shoulder elevation, main elbow flexion, main wrist flexion, main wrist roll, and main gripper. The observation images are video-format data with a shape of 480×640×3, corresponding to height, width, and channel dimensions respectively. Timestamps have a data type of float32, while frame indices, episode indices, indices, and task indices use int64 data type; all of these features have a shape of 1.

原始信息汇总

数据集概述

基本信息

• 许可证: apache-2.0
• 任务类别: robotics
• 标签: LeRobot, so100, tutorial

数据集描述

• 创建工具: LeRobot
• 主页: [More Information Needed]
• 论文: [More Information Needed]

数据集结构

• 数据文件: data//.parquet
• 代码库版本: v2.0
• 机器人类型: so100
• 总集数: 3
• 总帧数: 442
• 总任务数: 1
• 总视频数: 6
• 总块数: 1
• 块大小: 1000
• 帧率: 30 fps
• 分割:
  • 训练集: 0:3

数据路径

• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征

• action:
  • 数据类型: float32
  • 形状: [6]
  • 名称: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper
• observation.state:
  • 数据类型: float32
  • 形状: [6]
  • 名称: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper
• observation.images.laptop:
  • 数据类型: video
  • 形状: [480, 640, 3]
  • 名称: height, width, channels
  • 信息:
    • video.fps: 30.0
    • video.height: 480
    • video.width: 640
    • video.channels: 3
    • video.codec: av1
    • video.pix_fmt: yuv420p
    • video.is_depth_map: false
    • has_audio: false
• observation.images.phone:
  • 数据类型: video
  • 形状: [480, 640, 3]
  • 名称: height, width, channels
  • 信息:
    • video.fps: 30.0
    • video.height: 480
    • video.width: 640
    • video.channels: 3
    • video.codec: av1
    • video.pix_fmt: yuv420p
    • video.is_depth_map: false
    • has_audio: false
• timestamp:
  • 数据类型: float32
  • 形状: [1]
  • 名称: null
• frame_index:
  • 数据类型: int64
  • 形状: [1]
  • 名称: null
• episode_index:
  • 数据类型: int64
  • 形状: [1]
  • 名称: null
• index:
  • 数据类型: int64
  • 形状: [1]
  • 名称: null
• task_index:
  • 数据类型: int64
  • 形状: [1]
  • 名称: null

引用

• BibTeX: [More Information Needed]