so101-write-2

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。数据集包含10个episodes，总计3145帧，涉及一个任务。数据以parquet文件格式存储，视频文件以mp4格式存储。特征包括6维动作（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）和6维状态观测，这些观测与动作具有相同的维度。此外，数据集提供了来自手腕摄像头（分辨率480x640，3通道）和顶部摄像头（分辨率480x848，3通道）的视频观测，帧率为30fps。元数据还包括时间戳、帧索引、episode索引、索引和任务索引。数据集结构支持训练分割，许可证为Apache 2.0。

This robotic dataset was developed using LeRobot, specifically designed for robotic task applications. It contains 10 episodes, totaling 3145 frames, and focuses on a single task. Structured non-video data is stored in Parquet format, while video files are saved in MP4 format. The features include 6-dimensional actions (shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position) and 6-dimensional state observations, which share the same dimensionality as the actions. Additionally, the dataset provides video observations from a wrist-mounted camera (resolution: 480×640, 3 channels) and an overhead camera (resolution: 480×848, 3 channels) with a frame rate of 30 fps. The metadata also includes timestamps, frame indices, episode indices, indices, and task indices. The dataset structure supports training splits, and it is licensed under Apache 2.0.

原始信息汇总

数据集概述

• 数据集名称: so101-write-2
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集规模

• 总幕数: 10
• 总帧数: 3145
• 任务总数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率: 30 FPS
• 数据分割: 训练集包含全部10幕 (0:10)

数据集结构

• 数据格式: Parquet 文件，路径为 data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频格式: MP4 文件，路径为 videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 代码版本: v3.0
• 机器人类型: so_follower
• 块大小: 1000

特征字段

特征名称	数据类型	形状	描述
action	float32	[6]	动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	状态：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，AV1编码，30 FPS
observation.images.top	video	[480, 848, 3]	顶部摄像头视频，AV1编码，30 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	幕索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引