Task02_leftrobot-combined_01_20260602_162459
收藏资源简介：
该数据集使用LeRobot工具创建，专注于机器人操作任务，包含动作、观测状态、时间戳、帧索引、集索引、索引和任务索引等特征。动作和观测状态特征均由6个浮点数值组成，分别对应肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪的位置。观测图像特征来自前摄像头，提供视频数据，分辨率为480x640，3通道彩色图像，帧率为30fps，使用AV1编码。数据集总规模包括2个集、3592帧和1个任务，数据文件大小为100MB，视频文件大小为200MB。机器人类型为so_follower，数据分割为训练集（涵盖集0到1）。数据以Parquet格式存储，视频以MP4格式存储。
This dataset is created using LeRobot and contains data for robot manipulation tasks. The structure includes features such as action, observation state, timestamp, frame index, set index, index, and task index. Both action and observation state features consist of 6 floating-point values corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation image feature comprises video data from a front camera with a resolution of 480x640, 3 channels, a frame rate of 30fps, and encoded with AV1. The dataset totals 2 sets, 3592 frames, and 1 task, with a data file size of 100MB and a video file size of 200MB. The robot type is so_follower, and it is split into a training set (sets 0 to 1). Data is stored in Parquet format, and videos are stored in MP4 format.
数据集概述
- 名称: Task02_leftrobot-combined_01_20260602_162459
- 许可证: Apache-2.0
- 任务类别: 机器人学（robotics）
- 创建工具: 使用 LeRobot 创建
数据集结构
- 数据格式: Parquet 文件，视频文件为 MP4
- 总样本数: 3592 帧
- 总任务数: 1
- 总片段数: 2
- 帧率: 30 FPS
- 数据大小: 100 MB（数据文件），200 MB（视频文件）
- 机器人类型: so_follower
- 数据划分: 全部用于训练（train: 0:2）
特征字段
| 字段名 | 数据类型 | 维度 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机械臂关节动作：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.state | float32 | [6] | 观测状态，与 action 维度相同 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，AV1 编码，YUV420P 格式 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
