HyeonseokE/SO101-StackBlock_Ours_60epi
收藏资源简介：
该数据集由LeRobot创建，专注于机器人领域，具体为SO101机器人（follower类型）。数据集包含60个总集和51813总帧，数据文件大小为100MB，视频文件大小为200MB，帧率为10fps。特征包括观察状态（如机器人关节位置）、动作、顶部和左腕图像视频、末端执行器位置、夹持器状态、技能信息（如自然语言描述、验证问题、类型和进度）、子任务信息（如自然语言、对象名称和目标位置），以及时间戳、帧索引等元数据。数据集用于机器人学习任务，支持多种输入和输出模式。
许可证: Apache-2.0 任务类别: - 机器人学 标签: - LeRobot(LeRobot) 配置项: - config_name: default data_files: data/*/*.parquet --- 本数据集基于[LeRobot(LeRobot)](https://github.com/huggingface/lerobot) 构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=HyeonseokE/SO101-StackBlock_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> ## 数据集描述 - **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]`: json { "codebase_version": "v3.0", "robot_type": "so101_follower", "total_episodes": 60, "total_frames": 51813, "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": [ "肩关节偏航关节位置", "肩关节升降关节位置", "肘关节屈曲关节位置", "腕关节屈曲关节位置", "腕关节旋转关节位置", "夹爪位置" ] }, "action": { "dtype": "float32", "shape": [ 6 ], "names": [ "肩关节偏航关节位置", "肩关节升降关节位置", "肘关节屈曲关节位置", "腕关节屈曲关节位置", "腕关节旋转关节位置", "夹爪位置" ] }, "observation.images.top": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "高度", "宽度", "通道数" ], "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": [ "高度", "宽度", "通道数" ], "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轴坐标", "Y轴坐标", "Z轴坐标", "滚转角", "俯仰角", "偏航角" ] }, "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": [ "肩关节偏航关节位置", "肩关节升降关节位置", "肘关节屈曲关节位置", "腕关节屈曲关节位置", "腕关节旋转关节位置", "夹爪位置" ] }, "skill.goal_position.robot_xyzrpy": { "dtype": "float32", "shape": [ 6 ], "names": [ "X轴坐标", "Y轴坐标", "Z轴坐标", "滚转角", "俯仰角", "偏航角" ] }, "skill.goal_position.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "夹爪位置" ] }, "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轴坐标", "Y轴坐标", "Z轴坐标" ] }, "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 [更多信息待补充]
