so101_l2r

该数据集由LeRobot创建，是一个机器人学数据集，专门用于训练机器人任务。数据集包含26个总集数和11244个总帧数，帧率为30fps。数据特征包括动作（由6个关节位置组成，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）、观察状态（同样为6个关节位置），以及来自手腕和前置摄像头的图像观察（视频格式，分辨率为480x640，3通道）。元数据包括时间戳、帧索引、集索引、索引和任务索引。数据集结构基于Parquet文件，视频文件使用AV1编解码器，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为“so_follower”，适用于训练任务。This dataset, developed by LeRobot, is a robotics dataset specifically intended for training robotic tasks. It contains 26 total episodes and 11244 total frames, with a frame rate of 30 fps. The data features include actions (composed of 6 joint positions, namely shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position), observation states (also consisting of 6 joint positions), as well as image observations captured by the wrist and front cameras (in video format, with a resolution of 480×640 and 3 channels). The metadata includes timestamps, frame indices, episode indices, indexes and task indices. The dataset is structured based on Parquet files, while the video files adopt the AV1 codec. The total size of the data files is 100 MB, and the total size of the video files is 200 MB. The robot type is "so_follower", which is applicable for task training.

原始信息汇总

数据集概述

数据集名称：so101_l2r

许可证：Apache-2.0

任务类别：机器人学 (Robotics)

创建工具：使用 LeRobot 创建

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数据集结构

• 总片段数 (Episodes)：26
• 总帧数 (Frames)：11,244
• 总任务数 (Tasks)：1
• 帧率 (FPS)：30
• 数据文件大小：约 100 MB
• 视频文件大小：约 200 MB
• 机器人类型：so_follower

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特征 (Features)

特征名	数据类型	形状	描述
action	float32	[6]	动作，包含6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	观察状态，与动作维度一致
observation.images.wrist	视频 (video)	[480, 640, 3]	腕部摄像头图像，分辨率480x640，3通道，编码为AV1，帧率30
observation.images.front	视频 (video)	[480, 640, 3]	正面摄像头图像，分辨率480x640，3通道，编码为AV1，帧率30
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	数据索引
task_index	int64	[1]	任务索引 (仅有1个任务)

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数据集划分 (Splits)

• 训练集 (train)：0 到 26 (全部26个片段)

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数据存储格式

• 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
• 块大小 (Chunks Size)：1000