Datasets:
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action list | observation.state list | timestamp float32 0 12.2 ⌀ | frame_index int64 0 367 ⌀ | episode_index int64 0 32 ⌀ | index int64 0 10.2k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
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Check out the documentation for more information.
SO101 Grasp-99 Dataset Pack
简介
本目录是 SO101 真机抓取任务的数据仓库，用于和模型成果仓库 artifacts/ 配套使用。
设计目标：
- 数据仓库 与 模型仓库 分离
- 数据仓库存放结构化的 LeRobot 数据集
- 模型仓库存放成功模型、rollout 视频、README 和实验复盘
- 两个仓库互相联动，方便他人单独下载数据或模型进行复现
当前目录下包含三个分任务数据集：
so101-grasp-left33so101-grasp-center33so101-grasp-right33
它们分别对应：
- 左侧抓取工作区
- 中侧抓取工作区
- 右侧抓取工作区
每个子目录本身都是一个独立、可直接用于 LeRobot 训练的 dataset root。
目录结构
so101-grasp-99/
├── README.md
├── so101-grasp-left33/
│ ├── data/
│ ├── meta/
│ └── videos/
├── so101-grasp-center33/
│ ├── data/
│ ├── meta/
│ └── videos/
└── so101-grasp-right33/
├── data/
├── meta/
└── videos/
当前数据规模
so101-grasp-left3333episodes8562frames30 FPS
so101-grasp-center3333episodes9739frames30 FPS
so101-grasp-right3333episodes10164frames30 FPS
使用方式
推荐把本仓库与模型仓库放在同一父目录下，例如：
workspace/
├── so101-grasp-99/
└── so101-left-sota-pack/
然后在模型仓库里训练时，直接把 dataset.root 指向这里的子目录，例如：
--dataset.root=../so101-grasp-99/so101-grasp-left33
说明：
dataset.root是实际读取数据的关键路径- 每个子目录都可以单独作为一个完整的 LeRobot 数据集来使用
- 这比把
33..65这种 episode 子集直接在同一大数据集上训练更稳，因为可以避免当前lerobot的 episode 子集索引 bug
上传后，其他用户可先下载该数据仓库，再按模型仓库 README 里的指令，把 dataset.root 指向相应子目录进行训练。
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