record-test_20260729_160133

该数据集由LeRobot创建，专注于机器人学任务，包含机器人动作和观察数据。动作数据包括6个关节的位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置；观察数据包括机器人状态（同样6个关节位置）以及两个视频流：前视摄像头和腕部摄像头的视频，分辨率为480x640，帧率30fps。数据集总共有1个episode、1795帧和1个任务，数据文件大小为100MB，视频文件大小为200MB，采用Apache 2.0许可证，机器人类型为so_follower。This dataset is created by LeRobot and focuses on robotics tasks, containing robot action and observation data. The action data includes positions of 6 joints: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position; the observation data includes robot state (the same 6 joint positions) and two video streams: front-view camera and wrist camera videos, with a resolution of 480x640 and a frame rate of 30fps. The dataset consists of 1 episode, 1795 frames, and 1 task, with data file size of 100MB and video file size of 200MB, under the Apache 2.0 license, and the robot type is so_follower.

原始信息汇总

数据集总览

• 数据集名称: record-test_20260729_160133
• 数据集地址: https://huggingface.co/datasets/y4mn4t/record-test_20260729_160133
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: LeRobot (https://github.com/huggingface/lerobot)

数据集结构

基本信息

• 代码库版本: v3.0
• 帧率 (FPS): 30
• 总片段数 (Episodes): 1
• 总帧数: 1795
• 总任务数: 1
• 数据块大小 (Chunks Size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower

数据拆分

• 训练集 (Train): 索引 0:1

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	[6]	动作，包含6个关节：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action相同的6个关节位置
observation.images.front	video	[480, 640, 3]	前置摄像头视频，分辨率480x640，3通道，编码为AV1，帧率30
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480x640，3通道，编码为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]	索引
task_index	int64	[1]	任务索引

数据文件路径

• 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