train_baseline_leftdown_20260722_211132

该数据集是一个专为机器人技术任务设计的数据集，由LeRobot创建。它包含5个总集数、2517个总帧数和1个总任务数。数据以Parquet文件格式存储，视频文件则采用MP4格式。数据集特征包括动作（6个浮点型关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、观测状态（与动作相同的6个关节位置）、观测图像（顶部和前置摄像头，分辨率为480x640的RGB视频，帧率为30fps，使用AV1编解码器）、时间戳、帧索引、集索引、索引和任务索引。机器人类型为so_follower，数据分割为训练集（集0到4）。数据集大小为100MB的数据文件和200MB的视频文件，采用Apache 2.0许可证。This dataset is designed for robotics tasks and was created by LeRobot. It consists of 5 total episodes, 2517 total frames, and 1 total task. The data is stored in Parquet file format, with video files in MP4 format. Dataset features include actions (6 floating-point joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position), observation states (the same 6 joint positions as actions), observation images (top and front cameras, RGB video with a resolution of 480x640, frame rate of 30fps, using the AV1 codec), timestamps, frame index, episode index, index, and task index. The robot type is so_follower, and the data is split into a training set (episodes 0 to 4). The dataset size is 100MB for data files and 200MB for video files, licensed under Apache 2.0.

原始信息汇总

数据集概述

• 数据集名称: train_baseline_leftdown_20260722_211132
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 数据集格式: LeRobot 格式
• 总片段数: 5
• 总帧数: 2517
• 总任务数: 1
• 帧率: 30 FPS
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower
• 数据划分: 所有数据用于训练 (train: "0:5")

特征结构

• 动作 (action):

  • 类型: float32
  • 形状: [6]
  • 字段: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

• 观测状态 (observation.state):

  • 类型: float32
  • 形状: [6]
  • 字段: 同动作字段

• 观测图像:

  • observation.images.top: 视频数据，分辨率 480x640，3 通道，AV1 编码，30 FPS
  • observation.images.front: 视频数据，分辨率 480x640，3 通道，AV1 编码，30 FPS

• 时间戳 (timestamp): float32, 形状 [1]

• 帧索引 (frame_index): int64, 形状 [1]

• 片段索引 (episode_index): int64, 形状 [1]

• 索引 (index): int64, 形状 [1]

• 任务索引 (task_index): int64, 形状 [1]

数据文件结构

• 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
• 数据分块大小 (chunks_size): 1000