eval_LAVLA_Async_VI_100M_40k_b20_whiteblackcube_v2_2026_05_27_white_latency_bench_v3
收藏资源简介：
该数据集由LeRobot创建，专门用于机器人学任务，特别是针对so_follower类型的机器人。数据集包含10个episodes，总计8468个frames，数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据以parquet格式存储，视频以mp4格式存储。特征包括动作（由6个浮点数值组成，对应机器人的关节位置，如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）、状态观测（同样为6个浮点数值）、三个摄像头的图像观测（每个摄像头分辨率为480x640，提供3通道彩色视频，使用av1编解码器），以及时间戳、帧索引、episode索引、索引和任务索引。数据集仅包含训练分割，覆盖所有episodes。
This dataset is created by LeRobot for robotics tasks, specifically for the so_follower type of robot. It contains 10 episodes, totaling 8468 frames, with a data file size of 100MB and a video file size of 200MB, at a frame rate of 30fps. Data is stored in parquet format, and videos are in mp4 format. Features include actions (6 floating-point values corresponding to robot joint positions such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), state observations (also 6 floating-point values), image observations from three cameras (each with a resolution of 480x640, providing 3-channel color video using the av1 codec), as well as timestamps, frame indices, episode indices, indices, and task indices. The dataset only includes a training split, covering all episodes.
数据集总览
- 数据集名称: eval_LAVLA_Async_VI_100M_40k_b20_whiteblackcube_v2_2026_05_27_white_latency_bench_v3
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 总片段数: 10
- 总帧数: 8468
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 划分: 训练集包含全部 10 个片段 (0:10)
特征描述
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机械臂6个关节的动作位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
| observation.state | float32 | [6] | 机械臂6个关节的状态位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
| observation.images.camera1 | video (AV1) | [480, 640, 3] | 来自摄像头1的视频帧，30 FPS，无音频，非深度图 |
| observation.images.camera2 | video (AV1) | [480, 640, 3] | 来自摄像头2的视频帧，30 FPS，无音频，非深度图 |
| observation.images.camera3 | video (AV1) | [480, 640, 3] | 来自摄像头3的视频帧，30 FPS，无音频，非深度图 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据文件路径格式
- 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
可视化
可通过 LeRobot 可视化工具 在线预览该数据集。
