eval_demo_LAVLA_Async_VI_whiteblackcube_v2_2026_06_02_black_v4
收藏资源简介：
该数据集是使用LeRobot创建的机器人技术数据集，专门用于so_follower类型机器人。数据集包含3个episodes，总计2158帧，数据以parquet格式组织，并包含视频文件。特征包括：6维动作向量和状态向量（对应机械臂的肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置），以及三个摄像头（camera1、camera2、camera3）的图像观察，每个摄像头视频分辨率为480x640、3通道、30fps。此外，还提供时间戳、帧索引、episode索引、任务索引等元数据。数据集适用于机器人控制、视觉感知等研究任务。
This dataset is a robotics dataset created using LeRobot, specifically for the so_follower type robot. It contains 3 episodes, totaling 2158 frames, with data organized in parquet format and including video files. Features include: 6-dimensional action vectors and state vectors (corresponding to the robot arms shoulder pan, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), as well as image observations from three cameras (camera1, camera2, camera3), each with video resolution of 480x640, 3 channels, and 30fps. Additionally, metadata such as timestamps, frame indices, episode indices, and task indices are provided. The dataset is suitable for research tasks in robot control, visual perception, and related areas.
数据集概述
- 数据集名称: eval_demo_LAVLA_Async_VI_whiteblackcube_v2_2026_06_02_black_v4
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 总片段数: 3
- 总帧数: 2158
- 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
- 数据划分: 训练集包含全部 3 个片段 (train: "0:3")
特征 (Features)
| 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.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos） |
| observation.state | float32 | [6] | 机器人状态观测，关节位置与 action 一致 |
| observation.images.camera1 | video | [480, 640, 3] | 摄像头1视频，分辨率480x640，3通道，AV1编码，30fps，yuv420p格式 |
| observation.images.camera2 | video | [480, 640, 3] | 摄像头2视频，参数同 camera1 |
| observation.images.camera3 | video | [480, 640, 3] | 摄像头3视频，参数同 camera1 |
| 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 |
数据文件路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
