TESTJUN28

该数据集是一个用于机器人研究的双臂机器人数据集，基于LeRobot平台创建。它包含机器人的动作和观测数据：动作数据为12维向量，控制左右机械臂的12个关节位置；状态数据为12维向量，反映左右机械臂的12个关节位置。观测数据包括来自四个不同视角的视频，分别由顶部RealSense彩色摄像头、俯视RealSense摄像头、右腕摄像头和左腕摄像头采集，所有视频的分辨率为480x640，帧率为30fps，编码格式为AV1。数据集总共有3个episodes，包含5382帧，涉及1个任务。数据以parquet文件格式存储，视频以mp4格式存储。机器人类型为so101_ual_follower，适用于机器人控制、模仿学习等研究任务。This dataset is a dual-arm robot dataset for robotics research, created using the LeRobot platform. It includes robot action and observation data: the action data consists of a 12-dimensional vector controlling the joint positions of the left and right robotic arms, and the state data is a 12-dimensional vector reflecting the joint positions of the left and right robotic arms. The observation data includes videos from four different perspectives: a top RealSense color camera, an overhead RealSense camera, a right wrist camera, and a left wrist camera. All videos have a resolution of 480x640, a frame rate of 30fps, and are encoded in AV1 format. The dataset contains 3 episodes, 5382 frames, and 1 task. Data is stored in parquet file format, while videos are stored in mp4 format. The robot type is so101_ual_follower, and it is suitable for research tasks such as robot control and imitation learning.

原始信息汇总

数据集概述

• 数据集名称: TESTJUN28
• 创建工具: LeRobot
• 许可协议: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot、so101、dual-arm

数据集结构

• 机器人类型: so101_dual_follower（双臂机器人）
• 帧率 (fps): 30
• 总剧集数 (total_episodes): 3
• 总帧数 (total_frames): 5382
• 总任务数 (total_tasks): 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 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
• 数据划分 (splits): train: 0:3（全部数据用于训练）

特征 (Features)

特征名称	数据类型	形状	描述
action	float32	[12]	12维动作指令，包含双臂各关节位置（右臂：肩部pan、肩部lift、肘部flex、腕部flex、腕部roll、夹爪；左臂同构）
observation.state	float32	[12]	12维机器人状态，与动作维度一致
observation.images.top_realsense_color	video	[480, 640, 3]	顶部RealSense彩色视频，AV1编码，30fps
observation.images.overhead_realsense	video	[480, 640, 3]	俯视RealSense彩色视频，AV1编码，30fps
observation.images.wrist_right	video	[480, 640, 3]	右腕相机彩色视频，AV1编码，30fps
observation.images.wrist_left	video	[480, 640, 3]	左腕相机彩色视频，AV1编码，30fps
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	剧集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引