my_third_test_20260619_140754
收藏资源简介：
这是一个机器人学数据集，使用LeRobot工具创建，专门针对so_follower机器人类型。数据集包含30个episodes，总计6447帧数据，以30fps的帧率采集。数据特征包括动作（6维浮点数组，表示肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、观察状态（与动作相同的6维关节位置）、来自cam1的图像观察（480x640分辨率、3通道视频，编码为av1，无音频），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。数据以parquet文件（总大小100MB）和mp4视频文件（总大小200MB）存储，支持训练分割（episodes 0到30）。该数据集适用于机器人控制、强化学习或模仿学习任务。
This is a robotics dataset created using LeRobot, specifically designed for the so_follower robot type. The dataset contains 30 episodes, totaling 6447 frames, collected at a frame rate of 30fps. Data features include actions (a 6-dimensional floating-point array representing shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper position), observation states (6-dimensional joint positions identical to actions), image observations from cam1 (480x640 resolution, 3-channel video encoded as av1 without audio), and metadata such as timestamps, frame index, episode index, index, and task index. The data is stored in parquet files (total size 100MB) and mp4 video files (total size 200MB), supporting a training split (episodes 0 to 30). This dataset is suitable for robotics control, reinforcement learning, or imitation learning tasks.
数据集概述
- 名称: Timtomic/my_third_test_20260619_140754
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, robotics, LeLab
- 创建工具: 使用 LeRobot 创建
数据集结构
- 总片段数 (Episodes): 30
- 总帧数 (Frames): 6,447
- 总任务数 (Tasks): 1
- 帧率 (FPS): 30
- 机器人类型: so_follower
- 数据分割 (Splits): 训练集 (train): 片段 0 至 29
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 机器人状态：与动作相同的6维关节位置 |
| observation.images.cam1 | video | [480, 640, 3] | 摄像头1视频：分辨率480x640，3通道，AV1编码，30 FPS，YUV420P像素格式，非深度图，无音频 |
| 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 |
数据文件
- 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 - 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 块大小 (Chunks size): 1000
- 代码版本: v3.0
引用
- BibTeX: 暂无可用信息
