eval_so101_put_the_block05

该数据集由LeRobot创建，专注于机器人学领域。它包含机器人动作和观测数据，具体特征包括：动作（由6个浮点数表示，对应肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（同样为6个浮点数，与动作相同）、前视图像（视频格式，分辨率480x640，3通道）和侧视图像（相同分辨率）。此外，数据集还包含时间戳、帧索引、片段索引、索引和任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。机器人类型为so_follower，适用于机器人控制和学习任务。This dataset was developed by LeRobot and focuses on the field of robotics. It contains robotic action and observation data, with specific features as follows: Actions are represented by 6 floating-point numbers, corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation and gripper position; observation states are also 6 floating-point numbers, consistent with the actions. Additionally, the dataset includes front-view images (video format, 480×640 resolution, 3-channel) and side-view images with the same resolution. Metadata such as timestamps, frame indices, episode indices, sample indices and task indices are also included. The data is stored in Parquet file format, while the videos are stored in MP4 format at a frame rate of 30fps. The robot type is so_follower, which is applicable to robotic control and learning tasks.

原始信息汇总

数据集概述

• 数据集名称: eval_so101_put_the_block05
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: LeRobot
• 可视化: 可视化该数据集

数据集结构

• 代码库版本: v3.0
• 机器人类型: so_follower
• 总片段数: 0
• 总帧数: 0
• 总任务数: 0
• 分块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率: 30 FPS
• 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

特征名称	数据类型	形状	描述
action	float32	[6]	包含6个关节动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	包含6个关节状态：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.front	video	[480, 640, 3]	前置摄像头图像，高度480，宽度640，3通道
observation.images.side	video	[480, 640, 3]	侧置摄像头图像，高度480，宽度640，3通道
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引