so101-write-7
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专门用于机器人技术研究。它包含10个完整的情节（episodes），总计3535帧数据，针对单一任务设计。数据集记录了机器人（类型为so_follower）的动作信息，包括6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置。观测信息涵盖机器人的关节状态（同样6个关节位置）以及来自两个摄像头的图像数据：手腕摄像头（分辨率为480x640，RGB三通道）和顶部摄像头（分辨率为480x848，RGB三通道）。此外，数据集还包含时间戳、帧索引、情节索引、任务索引等元数据。数据以parquet文件格式存储，视频数据以MP4格式存储，帧率为30帧/秒。数据集总数据文件大小约为100MB，视频文件大小约为200MB。
This is a robotics dataset developed using LeRobot, specifically tailored for robotics research. It contains 10 full episodes with a total of 3535 frames of data, and is designed for a single task. The dataset records the action information of the robot (model: so_follower), including 6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data covers the robot's joint states (the same 6 joint positions) and image data from two cameras: the wrist camera (resolution: 480×640, 3-channel RGB) and the top camera (resolution: 480×848, 3-channel RGB). Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The structured data is stored in Parquet file format, while the video data is stored in MP4 format, with a frame rate of 30 FPS. The total size of the dataset's data files is approximately 100 MB, and the total size of the video files is around 200 MB.
数据集概要
- 数据集名称:
yen-0/so101-write-7 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 所用框架: 基于 LeRobot 创建
数据集结构
- 机器人类型: so_follower
- 总回合数: 10
- 总帧数: 3535
- 总任务数: 1
- 数据块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 FPS
- 分割方式: 所有数据（0:10）用于训练
数据特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作，包含肩部、肘部、腕部等位置信息 |
| observation.state | float32 | [6] | 6维状态观测，与动作维度对应 |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，AV1编码，30 FPS |
| observation.images.top | video | [480, 848, 3] | 顶部摄像头视频，AV1编码，30 FPS |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 回合索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
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
- 主页: 暂缺
- 论文: 暂缺
- 引用格式: 暂缺
