HyeonseokE/SO101-PlaceSpoon_Ours_60epi
收藏资源简介：
这是一个由LeRobot创建的机器人操作数据集，专注于放置勺子任务。数据集包含60个episodes，共21307帧数据，使用so101_follower机器人类型。数据特征包括机器人观察状态（6个关节位置）、动作（6个关节位置）、图像观测（顶部和左腕视角的RGB视频，分辨率480x640，10fps）、机器人末端执行器位置和姿态、夹爪状态、技能信息（自然语言描述、验证问题、类型、进度、目标关节位置和末端位置）、子任务信息（自然语言描述、对象名称、目标位置）以及时间戳、帧索引、episode索引等元数据。数据集用于机器人学习和控制任务，支持训练和评估。
--- 许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot(LeRobot) 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集由[LeRobot(LeRobot)](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=HyeonseokE/SO101-PlaceSpoon_Ours_60epi"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集说明 - **主页**：[更多信息待补充] - **论文**：[更多信息待补充] - **许可证**：Apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "codebase_version": "v3.0", "robot_type": "so101_follower", "total_episodes": 60, "total_frames": 21307, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:60" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 6 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ] }, "action": { "dtype": "float32", "shape": [ 6 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ] }, "observation.images.top": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "observation.images.left_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "observation.ee_pos.robot_xyzrpy": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.gripper_binary": { "dtype": "float32", "shape": [ 1 ], "names": null }, "skill.natural_language": { "dtype": "string", "shape": [ 1 ], "names": null }, "skill.verification_question": { "dtype": "string", "shape": [ 1 ], "names": null }, "skill.type": { "dtype": "string", "shape": [ 1 ], "names": null }, "skill.progress": { "dtype": "float32", "shape": [ 1 ], "names": null }, "skill.goal_position.joint": { "dtype": "float32", "shape": [ 6 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ] }, "skill.goal_position.robot_xyzrpy": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "skill.goal_position.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper.pos" ] }, "subtask.natural_language": { "dtype": "string", "shape": [ 1 ], "names": null }, "subtask.object_name": { "dtype": "string", "shape": [ 1 ], "names": null }, "subtask.target_position": { "dtype": "float32", "shape": [ 3 ], "names": [ "x", "y", "z" ] }, "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引用：** bibtex [更多信息待补充]
