AkshitMajorProjectMIR1_session1_20260624_122134

该数据集由LeRobot创建，专用于机器人学任务，包含6个总集数和6729个总帧数。数据特征包括：动作部分为6维关节位置（具体为肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）；观测状态与动作相同，也为6维关节位置；视频观测来自两个摄像头（顶部和手腕），分辨率为480x640，帧率为30fps，编码格式为av1；元数据包括时间戳、帧索引、集索引和任务索引。数据集以parquet和视频文件格式存储，机器人类型为“so_follower”，许可证为Apache-2.0。This dataset is created by LeRobot for robotics tasks, comprising a total of 6 episodes and 6729 frames. Data features include: actions as 6-dimensional joint positions (specifically shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position); observation states identical to the actions, also as 6-dimensional joint positions; video observations from two cameras (top and wrist) with a resolution of 480x640, a frame rate of 30fps, encoded in av1; metadata includes timestamps, frame indices, episode indices, and task indices. The dataset is stored in parquet and video file formats, with a robot type of so_follower and licensed under Apache-2.0.

原始信息汇总

数据集概览

• 数据集名称: AkshitMajorProjectMIR1_session1_20260624_122134
• 许可证: Apache-2.0
• 任务类别: 机器人 (robotics)
• 创建工具: 基于 LeRobot 创建

数据集结构

• 帧率 (fps): 30
• 机器人类型: so_follower
• 总片段数 (Total episodes): 6
• 总帧数 (Total frames): 6729
• 总任务数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据分割: 训练集 (train) 包含全部 6 个片段 (0:6)
• 数据路径格式:
  • 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

特征 (Features)

特征名	数据类型	形状	说明
action	float32	(6,)	包含 6 个关节的动作指令: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	(6,)	包含 6 个关节的状态观测: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.top	video	(480, 640, 3)	顶部摄像头视频流，分辨率 480×640，3 通道，编码 av1，帧率 30
observation.images.wrist	video	(480, 640, 3)	腕部摄像头视频流，分辨率 480×640，3 通道，编码 av1，帧率 30
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

可视化

数据集可通过 LeRobot 可视化界面在线查看：Visualize Dataset

引用

暂无提供 BibTeX 引用信息。