play_with_blue_ball_20260711_031803

该数据集是一个基于LeRobot框架创建的机器人操作数据集，包含6个回合的机器人交互数据，总计52732帧，采样频率为30帧每秒。数据特征涵盖动作部分（6维关节位置，包括肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（同样为6维关节位置）以及视频观测（来自前视、侧视和腕部三个摄像头，每个视频分辨率为360x640，格式为AV1编码的MP4文件，无音频）。元数据包括时间戳、帧索引、回合索引和任务索引等。机器人类型为so_follower，数据以parquet和mp4格式存储，总数据量约300MB（其中数据100MB，视频200MB）。该数据集适用于机器人学习任务，如模仿学习和强化学习。This dataset is a robot manipulation dataset created using the LeRobot framework, containing 6 episodes of robot interaction data with a total of 52,732 frames and a sampling frequency of 30 fps. The data features include action components (6-dimensional joint positions covering shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (also 6-dimensional joint positions), and video observations (from three cameras: front view, side view, and wrist view, each with a resolution of 360x640, formatted as AV1-encoded MP4 files without audio). Metadata includes timestamps, frame indices, episode indices, task indices, etc. The robot type is so_follower, and the data is stored in parquet and mp4 formats, with a total data volume of approximately 300MB (100MB for data and 200MB for videos). This dataset is suitable for robot learning tasks such as imitation learning and reinforcement learning.

原始信息汇总

数据集概述

• 数据集名称: play_with_blue_ball_20260711_031803
• 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: 使用 LeRobot 创建

数据集结构

• 代码版本: v3.0
• 帧率: 30 FPS
• 总片段数（Episodes）: 6
• 总帧数: 52732
• 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
• 机器人类型: so_follower

特征（Features）

特征名称	数据类型	形状	说明
action	float32	[6]	包含6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	与 action 相同的6个关节位置
observation.images.front	video	[360, 640, 3]	前视图摄像头图像，AV1编码，30 FPS
observation.images.side	video	[360, 640, 3]	侧视图摄像头图像，AV1编码，30 FPS
observation.images.wrist	video	[360, 640, 3]	腕部摄像头图像，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

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

数据集划分

• 训练集: 0:6（全部6个片段用于训练）

引用

• BibTeX: 暂无提供