V4_pick_blue_cube

该数据集由LeRobot创建，用于机器人学任务。数据集包含60个训练片段，总计27550帧数据，记录了一个名为so_follower的机器人执行单一任务的过程。数据特征包括：机器人的6个关节位置（肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）作为动作和观测状态；从腕部和俯视视角采集的RGB视频（分辨率分别为640x480和480x640，30fps）；以及时间戳、帧索引、片段索引等元数据。数据以Parquet格式存储，视频使用AV1编码。

This dataset is created by LeRobot for robotics tasks. It contains 60 training episodes, totaling 27,550 frames, recording a robot named so_follower performing a single task. Data features include: the robots 6 joint positions (shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, gripper position) as actions and observation states; RGB videos captured from wrist and overhead perspectives (with resolutions of 640x480 and 480x640, 30fps); and metadata such as timestamps, frame indices, and episode indices. The data is stored in Parquet format, with videos encoded using AV1.

原始信息汇总

数据集概述

• 数据集名称: V4_pick_blue_cube
• 任务类别: 机器人学
• 许可证: Apache-2.0
• 创建工具: LeRobot (https://github.com/huggingface/lerobot)

数据集结构

基本信息

• 代码库版本: v3.0
• 总集数: 60
• 总帧数: 27550
• 总任务数: 1
• 帧率 (FPS): 30
• 机器人类型: so_follower
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 分块大小: 1000

数据特征

特征名称	数据类型	形状	说明
action	float32	[6]	动作数据，包含6个关节位置 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)
observation.state	float32	[6]	观测状态，与动作数据相同的6个关节位置
observation.images.wrist	video	[640, 480, 3]	腕部摄像头视频，分辨率640x480，编码为AV1，帧率30
observation.images.overhead	video	[480, 640, 3]	顶部摄像头视频，分辨率480x640，编码为AV1，帧率30
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	整体索引
task_index	int64	[1]	任务索引

数据分割

• 训练集: 0:60 (所有60集用于训练)

文件路径

• 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