RedTriangleIntoBox
收藏资源简介：
该数据集由LeRobot创建，是一个机器人数据集，专门用于so101_follower机器人。数据集包含120个完整的情节（episodes），总计67,522帧，覆盖2个任务。数据以30帧每秒（fps）采集，总数据文件大小为100MB，视频文件大小为200MB。数据集结构包括动作特征（如肩部、肘部、腕部和夹爪的位置）、观察特征（机器人状态和来自顶部及前部摄像头的图像视频，分辨率为480x640，3通道RGB格式），以及时间戳、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，视频以mp4格式存储，适用于机器人控制、模仿学习或强化学习任务。
This dataset was created by LeRobot, which is a robotics dataset specifically designed for the so101_follower robot. It contains 120 complete episodes, with a total of 67,522 frames, covering 2 tasks. The data was collected at 30 frames per second (fps), where the size of the non-video data files totals 100 MB, and the video files have a combined size of 200 MB. The dataset structure includes action features (e.g., positions of the shoulder, elbow, wrist, and gripper), observation features (robot state and image videos captured by the top and front cameras, with a resolution of 480×640 in 3-channel RGB format), as well as metadata such as timestamps, frame indices, episode indices, and task indices. The tabular data is stored in Parquet format, while the videos are stored in MP4 format. This dataset is applicable for robotics control, imitation learning, and reinforcement learning tasks.
数据集概述
- 数据集名称: RedTriangleIntoBox
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: LeRobot
数据集结构
- 代码库版本: v3.0
- 机器人类型: so101_follower
- 总片段数 (Episodes): 70
- 总帧数 (Frames): 40,840
- 总任务数: 1
- 块大小 (Chunk Size): 1,000
- 数据文件总大小: 100 MB
- 视频文件总大小: 200 MB
- 帧率 (FPS): 30
- 数据集划分: 训练集 (Train) — 共70个片段
数据特征 (Features)
动作 (action) 和 观测状态 (observation.state):
- 数据类型: float32
- 形状: [6]
- 包含的关节名称:
- shoulder_pan.pos
- shoulder_lift.pos
- elbow_flex.pos
- wrist_flex.pos
- wrist_roll.pos
- gripper.pos
观测图像 (observation.images):
- 两个摄像头视角: top (顶部) 和 front (正面)
- 图像尺寸: 480 × 640 像素，3通道 (RGB)
- 视频编码: av1
- 像素格式: yuv420p
- 帧率: 30 FPS
- 不包含深度图
- 无音频
其他特征:
- timestamp: float32，形状 [1]
- frame_index: int64，形状 [1]
- episode_index: int64，形状 [1]
- index: int64，形状 [1]
- task_index: int64，形状 [1]
文件路径
- 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
