eval_ACT_retrieve
收藏Hugging Face2026-05-12 更新2026-05-12 收录
下载链接：
https://huggingface.co/datasets/edmos7/eval_ACT_retrieve
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资源简介：
该数据集由LeRobot创建，专用于机器人任务研究。它包含20个episodes，总计10547帧，覆盖1个任务。数据以parquet文件格式存储，并附带视频文件，总大小约为200MB。数据集特征包括：6维动作和状态向量，对应机械臂的肩部平移、肩部抬升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置；两个视角的图像观测，分别来自侧面和手腕摄像头，分辨率均为480x640，3通道RGB视频，帧率为30fps；以及元数据如时间戳、帧索引、episode索引和任务索引。机器人类型为so_follower，数据采集频率为30fps。该数据集适用于机器人控制、模仿学习等领域的研究。
This dataset is created by LeRobot for robotic tasks. It contains 20 episodes, totaling 10547 frames, and involves 1 task. The data is stored in parquet format and includes video files with a total size of approximately 200MB. Features include: a 6-dimensional action and state vector (corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position of the robotic arm), image observations from two perspectives (side and wrist cameras, both with a resolution of 480x640, 3-channel RGB video at 30fps), and metadata such as timestamps, frame index, episode index, and task index. The robot type is so_follower, and the data collection frequency is 30fps. The dataset is suitable for research in robot control, imitation learning, and related fields.
提供机构：
edmos7
创建时间：
2026-05-12
原始信息汇总
数据集概述
数据集名称: eval_ACT_retrieve
主页地址: https://huggingface.co/datasets/edmos7/eval_ACT_retrieve
许可证: Apache-2.0
任务类别: 机器人学 (robotics)
标签: LeRobot
数据集详情
数据集结构
- 机器人类型: so_follower
- 总集数: 20
- 总帧数: 10547
- 总任务数: 1
- 帧率 (fps): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据划分: 训练集包含全部20个episode (0:20)
特征信息
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作指令，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，包含6个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
| observation.images.side | video | [480, 640, 3] | 侧视角摄像头视频，分辨率480x640，编码AV1，30fps |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，编码AV1，30fps |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据存储
- 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 - 数据块大小: 1000帧/块
