multi_task_20260530_194215
收藏资源简介：
该数据集是使用LeRobot创建的机器人控制数据集，专注于多任务学习场景。它包含10个回合，总计4704帧数据，以30fps的帧率采集。数据结构分为动作和观察两部分：动作由6个浮点数值组成，对应机器人关节位置（包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；观察包括状态观察和图像观察，状态观察同样包含6个关节位置，图像观察则提供来自前摄像头和腕部摄像头的视频数据，分辨率为480x640，3通道RGB格式，视频编码为h264。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。数据以Parquet文件格式存储，视频文件为MP4格式，总数据大小约为100MB，视频大小约为200MB。机器人类型为so_follower，适用于训练和评估机器人控制模型。
This dataset is a robot control dataset created using LeRobot, focusing on multi-task learning scenarios. It contains 10 episodes, totaling 4704 frames, collected at a frame rate of 30fps. The data structure consists of two parts: actions and observations. Actions are composed of 6 floating-point values corresponding to robot joint positions (such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position). Observations include state observations and image observations; state observations also contain 6 joint positions, while image observations provide video data from a front camera and a wrist camera, with a resolution of 480x640, 3-channel RGB format, and video encoding in h264. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet file format, with video files in MP4 format. The total data size is approximately 100MB, and the video size is about 200MB. The robot type is so_follower, and it is suitable for training and evaluating robot control models.
数据集概述
- 名称: multi_task_20260530_194215
- 许可证: Apache-2.0
- 任务类别: 机器人（robotics）
- 创建工具: 使用 LeRobot 创建
- 数据集格式: Parquet 文件，包含视频数据
数据集结构
- 帧率: 30 FPS
- 机器人类型: so_follower
- 总片段数: 10
- 总帧数: 4704
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据集划分: 训练集（0:10）
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作指令，包含肩部、肘部、腕部、夹爪等关节位置 |
| observation.state | float32 | [6] | 6维观测状态，与动作指令对应 |
| observation.images.front | video | [480, 640, 3] | 前摄像头视频，H.264编码，30 FPS |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，H.264编码，30 FPS |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据路径
- 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
