so101-fold-towel-2camera_3_20260630_210117
收藏资源简介：
该数据集是一个机器人操作数据集，专注于折叠毛巾任务，使用LeRobot框架创建。数据集包含6个回合，总计3988帧数据，帧率为30fps。数据以parquet格式存储，视频以mp4格式存储，使用AV1编解码器。数据集结构包括动作（action，如肩部、肘部、腕部和夹爪的位置）、观测状态（observation.state，与动作类似）、两个摄像头（手腕摄像头和顶部摄像头）的视频观测（分辨率480x640，3通道），以及时间戳、帧索引、回合索引、任务索引等元数据。机器人类型为so_follower，适用于机器人学习和控制任务。
This is a robotic manipulation dataset dedicated to the towel-folding task, developed using the LeRobot framework. It comprises 6 episodes, with a total of 3988 frames at a frame rate of 30fps. The structured data is stored in Parquet format, while the video files are saved in MP4 format utilizing the AV1 codec. The dataset structure includes the following components: action data (e.g., positions of the shoulder, elbow, wrist, and gripper), observation.state which is analogous to action data, video observations captured by two cameras (a wrist camera and a top-down camera, both with a resolution of 480×640 and 3 color channels), as well as metadata such as timestamps, frame indices, episode indices, task indices and other supplementary information. The employed robot platform is so_follower, which is suitable for robotic learning and control research tasks.
数据集概要
- 数据集名称: so101-fold-towel-2camera_3_20260630_210117
- 创建工具: 基于 LeRobot 构建
- 许可证: Apache-2.0
- 任务类别: 机器人学（Robotics）
- 机器人类型: so_follower
数据集规模
- 总片段数: 6
- 总帧数: 3988
- 总任务数: 1
- 帧率: 30 FPS
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 训练/验证划分: 训练集包含全部 6 个片段（train: 0:6）
数据结构
数据集包含以下特征字段：
| 字段名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作指令，包含6个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
| observation.state | float32 | [6] | 观测状态，同样包含6个关节位置 |
| observation.images.wrist | video | [480, 640, 3] | 手腕摄像头视频，分辨率480x640，AV1编码，30 FPS |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，AV1编码，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] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据文件结构
- 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 - 数据块大小: 1000 帧/块
代码库版本
- 基于 LeRobot v3.0 规范构建
