school_13_years_20260728_133557
收藏资源简介：
该数据集是一个用于机器人任务的数据集，由LeRobot工具创建。数据集包含6个关节位置的动作和观察状态特征，以及来自手腕摄像头的图像数据（分辨率为480x640，3通道）。数据以30帧每秒的速率采集，总共有20个episodes和62840帧。数据集结构包括动作、观察状态、时间戳、帧索引、episode索引等特征，适用于机器人控制和模仿学习任务。数据以parquet格式存储，总大小约为300MB（包括数据和视频文件）。机器人类型为so_follower，适用于训练和评估机器人模型。
This dataset is designed for robotic tasks and was created using the LeRobot tool. It includes actions and observation state features for 6 joint positions, as well as image data from a wrist-mounted camera (resolution 480x640, 3 channels). Data was collected at a rate of 30 frames per second, with a total of 20 episodes and 62,840 frames. The dataset structure comprises features such as actions, observation states, timestamps, frame indices, and episode indices, making it suitable for robotic control and imitation learning tasks. Data is stored in parquet format, with a total size of approximately 300MB (including data and video files). The robot type is so_follower, and it is applicable for training and evaluating robot models.
数据集概述
- 名称：school_13_years_20260728_133557
- 许可证：Apache-2.0
- 任务类别：机器人学（Robotics）
- 标签：LeRobot, robotics, lerobot, LeLab
- 创建工具：LeRobot (https://github.com/huggingface/lerobot)
数据集结构
- 代码库版本：v3.0
- 帧率：30 FPS
- 总片段数：20
- 总帧数：62,840
- 总任务数：1
- 分块大小：1,000
- 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：训练集（train）包含全部20个片段（索引0~19）
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作空间，包含6个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
| observation.state | float32 | [6] | 观测状态，与动作空间维度及名称一致 |
| observation.images.wrist camera | video | [480, 640, 3] | 腕部摄像头视频，分辨率480×640，3通道，AV1编码，YUV420P像素格式，30 FPS |
| 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（该数据集仅包含1个任务） |
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
可视化
数据集可通过LeRobot可视化空间查看：https://huggingface.co/spaces/lerobot/visualize_dataset?path=Labrat3622/school_13_years_20260728_133557
