record-test
收藏资源简介：
该数据集是使用LeRobot工具创建的机器人学数据集，包含5个episodes，总计2609帧数据。数据以parquet格式存储，视频以mp4格式存储。特征包括动作（action）、观测状态（observation.state）、时间戳（timestamp）、帧索引（frame_index）、episode索引（episode_index）、索引（index）和任务索引（task_index）。动作和观测状态均为6维浮点数组，对应机器人关节位置：shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos和gripper.pos。数据集的分块大小为1000，数据文件总大小为100MB，视频文件总大小为200MB，帧率为30fps。仅包含一个任务，并支持训练分割（train: 0:5）。
This dataset is a robotics dataset created using the LeRobot tool. It contains 5 episodes with a total of 2609 frames. The data is stored in parquet format, and videos are stored in mp4 format. Features include action, observation.state, timestamp, frame_index, episode_index, index, and task_index. Both action and observation.state are 6-dimensional floating-point arrays corresponding to robot joint positions: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, and gripper.pos. The dataset has a chunk size of 1000, with a total data file size of 100MB and video file size of 200MB, and a frame rate of 30fps. It includes only one task and supports training split (train: 0:5).
数据集概述：record-test
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
- 可视化链接: Visualize this dataset
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 总集数 (episodes): 1
- 总帧数 (frames): 1,796
- 总任务数 (tasks): 1
- 块大小 (chunks_size): 1,000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (fps): 30
- 数据划分 (splits): 训练集 (train) 包含所有数据 (0:1)
- 数据文件路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作：肩关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll) 和夹爪位置 (gripper) |
| observation.state | float32 | [6] | 机器人状态：与 action 名称相同 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，AV1 编码，30 fps，yuv420p 像素格式 |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，AV1 编码，30 fps，yuv420p 像素格式 |
| observation.detection.bboxes | float32 | [20] | 检测目标边界框坐标 (最多5个检测，每个4个坐标) |
| observation.detection.confidences | float32 | [5] | 检测目标置信度 (最多5个) |
| observation.detection.classes | float32 | [5] | 检测目标类别 (最多5个) |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
