ds_20260617_092237
收藏资源简介：
该数据集是一个由LeRobot创建的机器人数据集，包含5个总episodes和299个总frames，专注于一个任务。数据特征丰富，包括动作（以6维浮点数组表示，具体为机器人关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、观察状态（同样为6维浮点数组，对应关节位置）、相机图像（采用视频格式，分辨率为480x640，3通道，帧率30fps），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，机器人类型为so_follower，适用于机器人控制和学习任务的研究与开发。
This robotic dataset was developed by LeRobot, containing 5 total episodes and 299 total frames, and is dedicated to a single task. It includes rich data modalities: actions represented as 6-dimensional floating-point arrays (specifically robot joint positions including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states which are also 6-dimensional floating-point arrays corresponding to joint positions, camera images in video format with a resolution of 480x640, 3 channels and a frame rate of 30fps, as well as metadata such as timestamps, frame index, episode index, sample index and task index. The dataset is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB. The robot platform type is so_follower, and this dataset is applicable to research and development for robotic control and learning tasks.
数据集概况
- 名称: ds_20260617_092237
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, robotics, lerobot, LeLab
数据集结构
该数据集包含5个片段（episodes），总计299帧，涵盖1个任务。数据以 Parquet 格式存储，视频以 MP4 格式存储，数据路径为 data/*/*.parquet。
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 分块大小 (chunks_size): 1000
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 动作，包含 shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper 的位置 |
| observation.state | float32 | (6,) | 观测状态，与动作特征名称一致 |
| observation.images.cam | video | (480, 640, 3) | 摄像头图像，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 |
机器人类型
- 机器人类型: so_follower
数据划分
| 划分 | 片段索引范围 |
|---|---|
| 训练集 | 0:5 |
相关链接
- 数据集可视化: https://huggingface.co/spaces/lerobot/visualize_dataset?path=ljnel/ds_20260617_092237
