test_split_20260702_134724
收藏资源简介：
该数据集由LeRobot创建，专用于机器人学习任务。它包含302帧数据，总时长约为10秒（基于30帧每秒的帧率），涉及一个任务和一个剧集。数据结构包括动作（如x、y、theta方向上的速度）、观察状态（如基础位置和端点状态）、前端图像观察（分辨率为1280x720的RGB视频）、时间戳、帧索引、剧集索引和任务索引等字段。机器人类型为rby1，数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集采用Apache 2.0许可证。
This dataset is created by LeRobot for robot learning tasks. It contains 302 frames of data, with a total duration of approximately 10 seconds (based on a 30fps frame rate), involving one task and one episode. The data structure includes actions (such as velocities in x, y, and theta), observation states (like base position and end-effector status), front image observations (RGB video with a resolution of 1280x720), timestamps, frame indices, episode indices, and task indices. The robot type is rby1, and the data is stored in Parquet format, with a total data file size of 100MB and a video file size of 200MB. The dataset is licensed under Apache 2.0.
数据集概览
- 名称: test_split_20260702_134724
- 许可证: Apache-2.0
- 任务类别: 机器人学
- 标签: LeRobot
- 总帧数: 302
- 总片段数: 1
- 总任务数: 1
- 采样率: 30 FPS
数据特征
| 特征名称 | 类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [3] | 速度指令：x.vel, y.vel, theta.vel |
observation.state.odometry |
float32 | [3] | 里程计位置：base_x.pos, base_y.pos, base_theta.pos |
observation.state.endpoint_state |
float32 | [1] | 端点状态 |
observation.images.front |
视频 | [1280, 720, 3] | 前方摄像头图像，H.264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] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
数据集结构
- 机器人类型: rby1
- 数据存储路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频存储路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据集划分: 训练集包含全部数据（索引 0:1）
