record-0714-local-3-01

该数据集是一个机器人学数据集，使用LeRobot工具创建。数据集包含16个episodes，总计9707帧，用于机器人任务（可能涉及跟随或模仿任务，基于robot_type为so_follower）。数据以parquet文件（存储结构化数据）和mp4视频文件（存储图像观测）形式组织，总数据大小约为100MB（parquet）和200MB（视频）。帧率为30fps。特征包括：动作（6维浮点数组，表示肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹持器的位置）、状态观测（与动作相同的6维关节位置）、图像观测（包括环境视角和手腕视角的视频，每个视频分辨率为480x640，3通道，使用av1编解码器）、时间戳、帧索引、episode索引、索引和任务索引。所有数据仅用于训练集（splits中train为0:16）。数据集遵循Apache 2.0许可证。This dataset is a robotics dataset created using the LeRobot tool. It contains 16 episodes, totaling 9707 frames, for robot tasks (likely involving following or imitation tasks, based on robot_type as so_follower). The data is organized in parquet files (for structured data) and mp4 video files (for image observations), with a total data size of approximately 100MB (parquet) and 200MB (videos). The frame rate is 30fps. Features include: actions (6-dimensional float arrays representing shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), state observations (6-dimensional joint positions same as actions), image observations (including videos from environment and wrist perspectives, each with a resolution of 480x640, 3 channels, using the av1 codec), timestamps, frame indices, episode indices, indices, and task indices. All data is used only for the training set (with train in splits as 0:16). The dataset follows the Apache 2.0 license.

原始信息汇总

数据集概述

• 数据集名称：hk2k1/record-0714-local-3-01
• 许可证：Apache-2.0
• 任务类别：机器人学
• 标签：LeRobot
• 创建工具：LeRobot

数据集结构

• 代码库版本：v3.0
• 机器人类型：so_follower
• 总片段数：16
• 总帧数：9707
• 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：30 FPS
• 数据集划分：
  • 训练集：片段 0 至 15（共16个片段）

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

特征说明

特征名称	数据类型	形状	字段名/说明
action	float32	[6]	shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.env	video	[480, 640, 3]	环境摄像头，分辨率480x640，AV1编码，30 FPS
observation.images.wrist	video	[480, 640, 3]	腕部摄像头，分辨率480x640，AV1编码，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]	索引
task_index	int64	[1]	任务索引