hjkso1406/multitask-so101-70eps-per-task-base
收藏资源简介：
该数据集是一个使用LeRobot创建的机器人任务数据集，专门用于多任务机器人学习。数据集包含250个episodes，总计187,994帧，覆盖4个不同的任务。数据以parquet文件和视频文件形式存储（总大小约300MB），帧率为30fps。特征包括机器人的动作（6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、观测状态（同样6个关节位置）、顶部摄像头图像（480x640分辨率，RGB三通道）和腕部摄像头图像（480x640分辨率，RGB三通道），以及时间戳、帧索引、episode索引、任务索引等元数据。数据集适用于机器人控制、视觉导航和强化学习研究。
许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集基于LeRobot开发。 可[点击此处](https://huggingface.co/spaces/lerobot/visualize_dataset?path=hjkso1406/multitask-so101-70eps-per-task-base)可视化本数据集 ## 数据集描述 - **主页：** [需补充更多信息] - **论文：** [需补充更多信息] - **许可证：** Apache-2.0 ## 数据集结构 `meta/info.json`： json { "codebase_version": "v3.0", "robot_type": "so_follower", "total_episodes": 250, "total_frames": 187994, "total_tasks": 4, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:250" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "action": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.state": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.images.top": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]
