so101-selfrollout-sample

该数据集是一个机器人控制任务数据集，使用LeRobot工具创建。它包含来自so101_follower机器人的观测数据和动作数据，观测数据包括机器人的关节状态（由6个浮点数表示，分别对应肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪控制）以及来自三个摄像头的图像视频：手腕摄像头（分辨率为480x640，3通道）、顶部摄像头（分辨率为480x848，3通道）和俯视摄像头（分辨率为480x848，3通道）。所有视频以30fps录制，并使用AV1编解码器存储。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集总共有47个episodes，32043帧，覆盖1个任务，数据以parquet文件（总大小约100MB）和视频文件（总大小约200MB）格式组织，适用于训练或评估机器人学习模型。This dataset is a robotic control task dataset created using the LeRobot tool. It contains observation data and action data from the so101_follower robot. The observation data includes the robot's joint states (represented by 6 floating-point numbers, corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation and gripper control respectively) as well as image videos from three cameras: the wrist camera (resolution: 480×640, 3-channel), the top camera (resolution: 480×848, 3-channel) and the overhead camera (resolution: 480×848, 3-channel). All videos are recorded at 30fps and stored using the AV1 codec. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices and task indices. The dataset has a total of 47 episodes and 32043 frames, covering 1 task. The data is organized in parquet files (total size approximately 100 MB) and video files (total size approximately 200 MB), and is suitable for training or evaluating robotic learning models.

原始信息汇总

数据集概述

• 数据集名称: so101-selfrollout-sample
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 创建工具: 使用 LeRobot 创建

数据集结构

基本信息

• 机器人类型: so101_follower
• 帧率 (FPS): 30
• 总片段数: 47
• 总帧数: 32043
• 总任务数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 划分: 训练集包含全部 47 个片段

特征字段

字段名	数据类型	形状	说明
observation.state	float32	[6]	机器人关节状态，包含：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
action	float32	[6]	动作指令，与状态字段对应
observation.images.wrist	视频	[480, 640, 3]	腕部摄像头图像，30fps，AV1编码
observation.images.top	视频	[480, 848, 3]	顶部摄像头图像，30fps，AV1编码
observation.images.overhead	视频	[480, 848, 3]	俯视摄像头图像，30fps，AV1编码
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

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
• 配置文件: 默认配置 default，数据文件为 data/*/*.parquet

可视化

可通过 LeRobot 可视化空间 浏览该数据集。