so101-fold-towel-2camera_1_20260630_203411
收藏资源简介：
该数据集是一个用于机器人学的数据集，专注于折叠毛巾任务，使用LeRobot平台创建。数据集包含6个回合，总计3635帧数据，帧率为30fps。数据特征包括：6维机器人动作（关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）和对应的6维观测状态。观测部分包含两个摄像头视角的视频数据：腕部摄像头和顶部摄像头，分辨率均为480x640，3通道彩色视频，采用AV1编码。此外，数据集还包含时间戳、帧索引、回合索引、任务索引等元数据。机器人类型为so_follower，数据以Parquet文件格式存储，视频以MP4格式存储。数据集适用于机器人控制、模仿学习等研究任务。
This is a robotics dataset dedicated to the towel folding task, developed using the LeRobot platform. The dataset contains 6 episodes, with a total of 3635 frames at a frame rate of 30 fps. Its data features include 6-dimensional robot actions (joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and corresponding 6-dimensional observation states. The observation section includes video data from two camera perspectives: the wrist camera and the top-down camera, both with a resolution of 480×640, 3-channel color video encoded in AV1 format. In addition, the dataset also provides metadata such as timestamps, frame indices, episode indices, and task indices. The robot used is of the so_follower type. The robot data is stored in Parquet file format, while the video data is stored in MP4 format. This dataset is suitable for research tasks such as robot control and imitation learning.
数据集概述
- 数据集名称: so101-fold-towel-2camera_1_20260630_203411
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集元信息
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 机器人类型: so_follower
- 总片段数: 6
- 总帧数: 3635
- 总任务数: 1
- 数据集分割: 训练集 (train) 包含全部6个片段
数据特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含6个关节位置：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
observation.state |
float32 | [6] | 机器人观测状态，与动作维度一致 |
observation.images.wrist |
video (AV1编码) | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，RGB三通道，30fps |
observation.images.top |
video (AV1编码) | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，RGB三通道，30fps |
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 |
数据文件信息
- 数据文件格式: Parquet
- 视频文件格式: MP4 (AV1编码)
- 数据文件总大小: 100 MB
- 视频文件总大小: 200 MB
- 数据块大小: 每块1000帧
- 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
创建工具
该数据集使用 LeRobot 框架创建。
可视化
可通过以下链接在线可视化该数据集：
引用信息
当前引用信息（BibTeX）未提供（[More Information Needed]）。
