eval_eval2_ckpt020000_direct_red_nstep50_143451

该数据集由LeRobot创建，专注于机器人学任务，特别针对追随者型机器人（so_follower）。它包含动作、观测状态（如关节位置）、来自摄像头1的图像观测（分辨率为240x320像素，3通道）、时间戳、帧索引、情节索引、索引和任务索引等特征。数据以Parquet格式存储，视频以MP4格式存储，帧率为15fps。总情节数、总帧数和总任务数均为0，这可能表示数据集尚未完全填充或为示例数据。数据集采用分块存储结构，数据文件大小为100MB，视频文件大小为200MB。

This dataset is created by LeRobot and focuses on robotics tasks, specifically for the follower type robot (so_follower). It includes features such as actions, observation states (e.g., joint positions), image observations from camera 1 (with a resolution of 240x320 pixels, 3 channels), timestamps, frame indices, episode indices, indices, and task indices. The data is stored in Parquet format, and videos are stored in MP4 format with a frame rate of 15fps. The total number of episodes, total frames, and total tasks are all 0, which may indicate that the dataset is not fully populated or is sample data. The dataset structure involves chunked storage, with a data file size of 100MB and a video file size of 200MB.

原始信息汇总

数据集概要

• 数据集名称: eval_eval2_ckpt020000_direct_red_nstep50_143451
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 创建工具: 该数据集使用 LeRobot 创建。

数据集结构

• 代码库版本: v3.0
• 机器人类型: so_follower
• 总片段数: 0
• 总帧数: 0
• 总任务数: 0
• 块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率: 15 FPS

数据存储路径

• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据特征 (Features)

特征名称	数据类型	形状	字段说明
action	float32	[6]	动作指令，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]	观测状态，包含与动作相同的6个关节位置
observation.images.camera1	video	[240, 320, 3]	摄像头1的视频图像，高度240像素，宽度320像素，3个颜色通道
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