dataset-blue

该数据集由LeRobot创建，专用于机器人技术领域。它包含200个episodes，总计142,325帧，以30fps的帧率记录。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集特征包括：6维浮点型动作向量（对应肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置），6维浮点型观测状态向量（与动作向量相同），以及来自前视、右侧和上方三个视角的图像观测，每个视角为480x640分辨率、3通道的RGB视频。此外，还包含时间戳、帧索引、episode索引等元数据。数据集仅提供训练分割，覆盖所有episodes。

This dataset is created by LeRobot and is specifically designed for robotics applications. It contains 200 episodes with a total of 142,325 frames recorded at 30fps. The data is stored in parquet format, with a total data file size of 100MB and video file size of 200MB. The dataset features include: a 6-dimensional floating-point action vector (corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), a 6-dimensional floating-point observation state vector (same as the action vector), and image observations from three perspectives: front, right, and top, each as 480x640 resolution, 3-channel RGB videos. Additionally, metadata such as timestamps, frame indices, and episode indices are included. The dataset only provides a training split, covering all episodes.

原始信息汇总

数据集概述

• 数据集名称: dataset-blue
• 许可证: Apache-2.0
• 任务类型: 机器人 (robotics)
• 标签: LeRobot

数据集结构

• 基础版本: v3.0
• 机器人类型: so_follower
• 总片段数: 200
• 总帧数: 142,325
• 总任务数: 1
• 数据块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据集划分:
  • 训练集: 片段索引 0 到 199 (共 200 个片段)

数据文件结构

• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征信息

• 动作 (action):

  • 数据类型: float32
  • 维度: 6
  • 字段: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

• 观察状态 (observation.state):

  • 数据类型: float32
  • 维度: 6
  • 字段: 与动作相同

• 图像观测 (observation.images):

  • 包含三个视角: front (前), right (右), up (上)
  • 分辨率: 480x640 像素
  • 颜色通道: 3 (RGB)
  • 视频编码: h264, 像素格式 yuv420p
  • 帧率: 30 FPS
  • 非深度图, 无音频

• 其他特征:

  • timestamp: float32, 形状 [1]
  • frame_index: int64, 形状 [1]
  • episode_index: int64, 形状 [1]
  • index: int64, 形状 [1]
  • task_index: int64, 形状 [1]

可视化与创建

• 创建工具: LeRobot (GitHub 仓库)
• 可视化地址: Hugging Face Space 可视化工具