eval_so101_006_default_chk045000

该数据集是使用LeRobot创建的机器人数据集，专为机器人任务设计。它包含多个特征：动作特征包括肩部、肘部、腕部和夹爪的位置；观测状态包括关节位置和来自顶部及前置摄像头的图像，图像分辨率为480x640，3通道。此外，数据集还包括元数据，如时间戳、帧索引、episode索引和任务索引。数据以parquet文件格式存储，视频文件以mp4格式存储，帧率为30fps。该数据集适用于机器人控制、模仿学习及相关研究领域。

This is a robotics dataset developed using LeRobot, specifically designed for robotic tasks. It includes multiple types of features: the action features cover the positions of the shoulder, elbow, wrist and gripper; the observation states consist of joint positions and images captured by the top and front cameras, with the images having a resolution of 480x640 and 3 color channels. Additionally, the dataset also contains metadata such as timestamps, frame indices, episode indices and task indices. The data is stored in Parquet file format, while the video files are stored in MP4 format with a frame rate of 30 fps. This dataset is applicable to research fields such as robot control, imitation learning and other related areas.

原始信息汇总

数据集概述

基本信息

• 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

• 代码版本: v3.0
• 机器人类型: so_follower
• 总集数 (episodes): 0
• 总帧数 (frames): 0
• 总任务数 (tasks): 0
• 数据块大小 (chunks_size): 1000
• 数据文件大小 (data_files_size_in_mb): 100 MB
• 视频文件大小 (video_files_size_in_mb): 200 MB
• 帧率 (fps): 30
• 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

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	[6]	6维动作：肩关节 (pan, lift, flex)、腕关节 (flex, roll)、夹爪 (pos)
observation.state	float32	[6]	6维状态观测，同动作定义
observation.images.top	video	[480, 640, 3]	顶部摄像头图像，分辨率480x640，RGB三通道
observation.images.front	video	[480, 640, 3]	正面摄像头图像，分辨率480x640，RGB三通道
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引

配置

• 配置名称: default
• 数据文件: data/*/*.parquet