so100_test_2

该数据集是通过LeRobot创建的，主要用于机器人技术领域。数据集包含动作、观察状态、图像（顶部和右侧视角）、时间戳等特征。具体来说，动作和观察状态都包含12个浮点型数据，分别对应左右机械臂的各个关节角度和夹爪状态。图像数据的分辨率为480x640，3通道，帧率为30fps。数据集总共有2个episodes，561帧，1个任务，4个视频。数据以parquet格式存储，视频以mp4格式存储。

This dataset was developed using LeRobot, and is primarily designed for the field of robotics. It includes features such as actions, observation states, images captured from top and right viewpoints, timestamps, and others. Specifically, both the action and observation state each contain 12 floating-point values, which respectively correspond to the joint angles and gripper status of the left and right robotic arms. The image data has a resolution of 480x640, 3 color channels, and a frame rate of 30fps. In total, the dataset contains 2 episodes, 561 frames, 1 task, and 4 videos. The structured dataset files are stored in Parquet format, while the videos are stored in MP4 format.

原始信息汇总

数据集概述

基本信息

• 名称: so100_test_2
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot, so100, tutorial
• 创建工具: LeRobot

数据集结构

• 配置名称: default
• 数据文件: data//.parquet
• 总集数: 2
• 总帧数: 561
• 总任务数: 1
• 总视频数: 4
• 总块数: 1
• 块大小: 1000
• 帧率: 30 fps
• 分割: 训练集 (train): 0:2

数据路径

• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征描述

• 动作 (action):
  • 数据类型: float32
  • 形状: [12]
  • 名称: left_shoulder_pan, left_shoulder_lift, left_elbow_flex, left_wrist_flex, left_wrist_roll, left_gripper, right_shoulder_pan, right_shoulder_lift, right_elbow_flex, right_wrist_flex, right_wrist_roll, right_gripper
• 观测状态 (observation.state):
  • 数据类型: float32
  • 形状: [12]
  • 名称: 同动作特征
• 观测图像 (observation.images.top, observation.images.right):
  • 数据类型: video
  • 形状: [480, 640, 3]
  • 名称: height, width, channels
  • 视频信息:
    • 高度: 480
    • 宽度: 640
    • 编解码器: av1
    • 像素格式: yuv420p
    • 是否为深度图: false
    • 帧率: 30 fps
    • 通道数: 3
    • 是否有音频: false
• 其他特征:
  • timestamp: float32, [1]
  • frame_index: int64, [1]
  • episode_index: int64, [1]
  • index: int64, [1]
  • task_index: int64, [1]

引用信息

• BibTeX: [More Information Needed]