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float32
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12.2
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int64
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End of preview. Expand in Data Studio

YAML Metadata Warning:empty or missing yaml metadata in repo card

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-left33
  • so101-grasp-center33
  • so101-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-left33

    • 33 episodes
    • 8562 frames
    • 30 FPS
  • so101-grasp-center33

    • 33 episodes
    • 9739 frames
    • 30 FPS
  • so101-grasp-right33

    • 33 episodes
    • 10164 frames
    • 30 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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