so101_dataset_test_3_20260729_101353
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专注于机器人控制任务。数据集包含44个episodes，总计15541帧，以30fps的帧率记录。特征包括动作（如肩部平移、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（与动作相同的关节位置）、观测图像（顶部和腕部摄像头，分辨率480x640，RGB通道，视频编码为h264）以及时间戳、帧索引、episode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，机器人类型为“so_follower”。数据集适用于机器人学习和控制研究。
This is a robotic dataset developed using LeRobot, focused on robotic control tasks. The dataset consists of 44 episodes, totaling 15,541 frames recorded at a frame rate of 30 fps. Its features include actions (e.g., shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states which consist of the same joint positions as the actions, observation images captured by the top and wrist cameras with a resolution of 480×640 pixels and RGB channels, encoded in h.264 format, as well as metadata such as timestamps, frame indices, episode indices, sample indices, and task indices. The dataset is stored in Parquet file format, while the video files are saved in MP4 format. The robot platform type is "so_follower". This dataset is suitable for robotic learning and control research.
数据集总览
- 数据集名称: so101_dataset_test_3_20260729_101353
- 许可证: Apache-2.0
- 任务类型: 机器人学 (robotics)
- 创建工具: 基于 LeRobot 框架创建
数据集结构
基本信息
- 帧率 (FPS): 30
- 总片段数: 44
- 总帧数: 15,541
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 分块大小: 1000
- 机器人类型: so_follower
- 数据划分: 训练集包含全部 44 个片段 (索引 0:44)
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 动作数据，包含 6 个关节位置：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.state | float32 | (6,) | 机器人状态观测，与动作维度一致，同样包含 6 个关节位置 |
| observation.images.top | 视频 (h264) | (480, 640, 3) | 顶部摄像头图像，分辨率 480x640，RGB 三通道，30 fps |
| observation.images.wrist | 视频 (h264) | (480, 640, 3) | 腕部摄像头图像，分辨率 480x640，RGB 三通道，30 fps |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 片段索引 |
| index | int64 | (1,) | 整体索引 |
| task_index | int64 | (1,) | 任务索引 |
数据存储路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
参考文献
- 主页: 暂无
- 论文: 暂无
