tube_B1_to_B2_v1_20260625_202857
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot工具创建。它包含机器人执行任务时的动作和观测数据：动作数据为6维浮点型向量，对应肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置；观测数据包括相同维度的状态向量，以及来自三个摄像头视角（前视、左侧和腕部）的视频图像，视频分辨率为480x640，帧率为30fps，使用AV1编解码器存储。数据集还包含时间戳、帧索引、episode索引等元数据，总共有10个episodes、4490帧，数据以Parquet文件格式组织，视频文件以MP4格式存储。机器人类型为so_follower，适用于机器人控制和模仿学习任务。
This dataset is a robot operation dataset created using the LeRobot tool. It includes action and observation data from robots performing tasks: the action data consists of 6-dimensional floating-point vectors corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position; the observation data includes state vectors of the same dimension, as well as video images from three camera perspectives (front, left, and wrist), with a resolution of 480x640, a frame rate of 30fps, and stored using the AV1 codec. The dataset also contains metadata such as timestamps, frame indices, and episode indices, with a total of 10 episodes and 4490 frames. The data is organized in Parquet file format, and video files are stored in MP4 format. The robot type is so_follower, and it is suitable for robot control and imitation learning tasks.
数据集名称
tube_B1_to_B2_v1_20260625_202857
数据集描述
该数据集使用 LeRobot 框架创建，专为机器人技术任务设计。
许可证
Apache-2.0
任务类别
- 机器人技术 (robotics)
标签
- LeRobot
数据集结构
数据特征
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | (6,) | 6维动作指令，包含关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
| observation.state | float32 | (6,) | 6维观察状态，包含关节位置（同上） |
| observation.images.front | video (AV1编码) | (480, 640, 3) | 前置摄像头视频，30fps |
| observation.images.left | video (AV1编码) | (480, 640, 3) | 左侧摄像头视频，30fps |
| observation.images.wrist | video (AV1编码) | (480, 640, 3) | 腕部摄像头视频，30fps |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 回合索引 |
| index | int64 | (1,) | 索引 |
| task_index | int64 | (1,) | 任务索引 |
数据集规模
- 总回合数 (total_episodes): 10
- 总帧数 (total_frames): 4490
- 总任务数 (total_tasks): 1
- 数据块大小 (chunks_size): 1000
- 数据文件大小 (data_files_size_in_mb): 100 MB
- 视频文件大小 (video_files_size_in_mb): 200 MB
机器人类型
- 机器人类型 (robot_type): so_follower
数据分割
- 训练集 (train): 0:10
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
其他信息
- 代码库版本 (codebase_version): v3.0
- 帧率 (fps): 30
- 主页 (homepage): [More Information Needed]
- 论文 (paper): [More Information Needed]
- 引用 (citation): [More Information Needed]
