record-tube-2_cameras_20260601_185921
收藏资源简介：
该数据集是一个基于LeRobot创建的机器人学习数据集，专门用于机器人控制与视觉感知研究。它包含机器人的动作和观测数据，其中动作数据涵盖6个自由度的关节位置，具体包括肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置。观测数据来自两个摄像头：前置摄像头和左侧摄像头，提供视频流，分辨率为480x640像素，3通道（RGB），帧率为30帧每秒。数据集还包括丰富的元数据，如时间戳、帧索引、episode索引和任务索引。总共有3个episodes，包含1794帧数据，涉及1个任务。数据以parquet格式存储，视频文件以mp4格式存储，机器人类型为so_follower。该数据集适用于机器人学习、控制算法开发和视觉感知任务的研究与应用。
This dataset is a robot learning dataset created using LeRobot, specifically designed for research in robot control and visual perception. It includes robot action and observation data, with action data covering 6 degrees of freedom in joint positions, specifically shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. Observation data comes from two cameras: a front camera and a left camera, providing video streams with a resolution of 480x640 pixels, 3 channels (RGB), and a frame rate of 30 frames per second. The dataset also includes rich metadata such as timestamps, frame indices, episode indices, and task indices. In total, there are 3 episodes containing 1794 frames of data, involving 1 task. The data is stored in parquet format, video files are stored in mp4 format, and the robot type is so_follower. This dataset is suitable for research and applications in robot learning, control algorithm development, and visual perception tasks.
数据集概述
- 数据集名称: record-tube-2_cameras_20260601_185921
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 总集数 (Episodes): 3
- 总帧数 (Frames): 1794
- 总任务数 (Tasks): 1
- 数据文件大小: 约100 MB
- 视频文件大小: 约200 MB
- 机器人类型: so_follower
特征字段
| 字段名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 机器人动作，包含 shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | (6,) | 机器人观察状态，与动作字段相同的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，AV1编码，30 FPS |
| observation.images.left | video | (480, 640, 3) | 左侧摄像头视频，分辨率480x640，3通道，AV1编码，30 FPS |
| 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 |
视频编码信息
- 编码格式: AV1 (av1)
- 像素格式: yuv420p
- 帧率: 30 FPS
- 是否为深度图: 否
- CRF: 30
- 预设: 12
- 视频后端: pyav
数据分割
- 训练集: 索引 0 到 2（共3个片段）
数据存储路径
- 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
