so101_glue_dataset-trajectory

该数据集是使用LeRobot创建的，专注于机器人技术领域，具体针对so101机器人类型。数据集包含51个episodes，总计22488帧，涉及1个任务。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。特征包括动作（6个浮点型关节控制值，如主肩部平移、主肩部升降等）、观察状态（与动作相同的6个浮点型值）、时间戳、帧索引、episode索引、任务索引等。此外，数据集提供来自两个摄像头的视频观察：MAIN_CAM和SEC_CAM，分辨率均为480x640像素，3通道，视频编码为av1，无音频；以及轨迹图像，同样为480x640像素的3通道图像。数据集结构支持训练分割，适用于机器人控制和视觉任务的研究。

This dataset was created using LeRobot, focusing on the field of robotics, specifically targeting the so101 robot type. The dataset contains 51 episodes, totaling 22,488 frames, and covers 1 task. The data is stored in Parquet file format, with a total data file size of 100 MB, video file size of 200 MB, and a frame rate of 30 fps. The features include actions (6 floating-point joint control values, such as primary shoulder translation, primary shoulder elevation, etc.), observation states (6 identical floating-point values as the actions), timestamps, frame indices, episode indices, task indices, and more. In addition, the dataset provides video observations from two cameras: MAIN_CAM and SEC_CAM, both with a resolution of 480x640 pixels, 3 channels, encoded in AV1, and without audio; it also includes trajectory images, which are also 3-channel images with a resolution of 480x640 pixels. The dataset structure supports training splits, making it suitable for research on robot control and visual tasks.

原始信息汇总

数据集概述

• 名称: so101_glue_dataset-trajectory
• 许可: Apache-2.0
• 任务类型: 机器人学 (robotics)
• 标签: LeRobot

数据集结构

基本信息

• 机器人型号: so101
• 总片段数: 51
• 总帧数: 22488
• 总任务数: 1
• 分块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (fps): 30
• 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

数据划分

• 训练集 (train): 片段索引 0 至 50 (共51个片段)

特征详情

特征名称	数据类型	形状	描述
action	float32	[6]	包含6个动作维度（肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪）
observation.state	float32	[6]	与动作维度相同，为观测到的机器人状态
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引
observation.images.MAIN_CAM	video	[480, 640, 3]	主相机视频，分辨率480x640，3通道，编码AV1，帧率30fps
observation.images.SEC_CAM	video	[480, 640, 3]	副相机视频，分辨率480x640，3通道，编码AV1，帧率30fps
observation.images.trajectory	image	[480, 640, 3]	轨迹图像，分辨率480x640，3通道

引用信息

• 主页: [更多信息待补充]
• 论文: [更多信息待补充]
• BibTeX: [更多信息待补充]