record-test-snack_20260701_220626

该数据集是一个用于机器人技术的数据集，由LeRobot创建。它包含机器人动作和观察数据，具体包括6个关节位置（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）作为动作特征，以及相同的关节位置作为状态观察。此外，数据集提供来自顶部和手腕摄像头的视频观察，分辨率为480x640像素，帧率为30fps，编码格式为av1。数据还包括时间戳、帧索引、episode索引、索引和任务索引等元信息。数据集总共有2个episodes、1260帧和1个任务，数据以parquet文件和视频文件形式存储，总数据大小约为100MB，视频文件大小约为200MB。机器人类型为so_follower，数据集分割为训练集（包含所有episodes）。

This dataset is designed for robotics, created by LeRobot. It includes robot action and observation data, specifically featuring 6 joint positions (shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position) as action features, and the same joint positions as state observations. Additionally, the dataset provides video observations from top and wrist cameras with a resolution of 480x640 pixels, a frame rate of 30fps, and av1 encoding format. The data also includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset consists of 2 episodes, 1260 frames, and 1 task, stored in parquet files and video files, with a total data size of approximately 100MB and video file size of about 200MB. The robot type is so_follower, and the dataset is split into a training set (including all episodes).

原始信息汇总

数据集概述

• 数据集名称: record-test-snack_20260701_220626
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 创建工具: 使用 LeRobot 创建
• 机器人类型: so_follower

数据集结构

• 总集数 (total_episodes): 2
• 总帧数 (total_frames): 1260
• 总任务数 (total_tasks): 1
• 帧率 (fps): 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 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
• 数据集划分 (splits): 训练集 (train) 包含全部数据 (0:2)

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	[6]	6维动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置
observation.state	float32	[6]	6维观察状态：对应动作的关节位置
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480x640，RGB，帧率30fps，AV1编码
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480x640，RGB，帧率30fps，AV1编码
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集数索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引