droid_xxjd_20260630_failure

该数据集是使用LeRobot创建的机器人数据集，专门针对panda机器人。数据集包含20个episodes，总计5512帧，覆盖11个不同任务。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为500MB，帧率为15fps。数据集特征包括：三个图像传感器数据（exterior_image_1_left、exterior_image_2_left、wrist_image_left），每个图像的形状为180x320x3；关节位置（7维浮点数组）；夹爪位置（1维浮点数组）；动作（8维浮点数组）；以及时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集仅用于训练，分割为train集。

This dataset is a robot dataset created using LeRobot, specifically designed for the panda robot. It contains 20 episodes, totaling 5512 frames, covering 11 different tasks. The data is stored in parquet format, with a total data file size of 100MB, video file size of 500MB, and a frame rate of 15fps. The dataset features include: three image sensor data (exterior_image_1_left, exterior_image_2_left, wrist_image_left), each with a shape of 180x320x3; joint positions (7-dimensional float array); gripper positions (1-dimensional float array); actions (8-dimensional float array); and metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset is intended for training only and is split into a train set.

原始信息汇总

数据集概述

• 数据集名称: droid_xxjd_20260630_failure
• 许可证: Apache-2.0
• 任务类别: 机器人技术 (robotics)
• 标签: LeRobot, droid, panda

数据集结构

• 机器人类型: panda
• 总集数 (episodes): 20
• 总帧数 (frames): 5512
• 总任务数 (tasks): 11
• 块大小 (chunks_size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 500 MB
• 帧率 (fps): 15
• 数据划分: 仅包含训练集 (train: 0:20)

数据特征

特征名称	数据类型	形状	说明
exterior_image_1_left	image	[180, 320, 3]	外部相机1左侧图像
exterior_image_2_left	image	[180, 320, 3]	外部相机2左侧图像
wrist_image_left	image	[180, 320, 3]	腕部左侧图像
joint_position	float32	[7]	关节位置
gripper_position	float32	[1]	夹爪位置
actions	float32	[8]	动作
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引

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