record-test1_20260619_165453
收藏资源简介：
该数据集是一个机器人控制数据集，使用LeRobot工具创建。它包含50个训练片段，总计19726帧数据，帧率为30fps。数据特征包括机械臂的5维动作（如肩部平移、肩部提升、肘部弯曲、腕部弯曲和夹爪位置）和对应的5维观测状态。此外，数据集提供两个视角的视频观测：一个前置摄像头（分辨率720x1280）和一个次要摄像头（分辨率480x640），均以30fps录制，编码格式为AV1。数据集还包括时间戳、帧索引、片段索引和任务索引等元数据，适用于机器人策略学习任务。机器人类型为so_follower，数据以Parquet格式存储，总数据大小约为300MB（数据文件100MB，视频文件200MB）。
This dataset is a robotic control dataset created using the LeRobot tool. It contains 50 training episodes, totaling 19726 frames with a frame rate of 30 fps. The data features include 5-dimensional actions of the robotic arm (such as shoulder translation, shoulder lift, elbow flexion, wrist flexion and gripper position) and the corresponding 5-dimensional observation states. Additionally, the dataset provides video observations from two perspectives: a front-facing camera with a resolution of 720×1280 and a secondary camera with a resolution of 480×640, both recorded at 30 fps and encoded in the AV1 format. The dataset also includes metadata such as timestamps, frame indices, episode indices and task indices, which is suitable for robotic policy learning tasks. The robotic type is so_follower, and the data is stored in Parquet format, with a total data size of approximately 300 MB (100 MB for data files and 200 MB for video files).
数据集概述
- 名称:
AseelLu/record-test1_20260619_165453 - 许可协议: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集描述
该数据集使用 LeRobot 框架创建。
数据集结构
- 数据格式: Parquet 文件 (
data/*/*.parquet) - 帧率: 30 FPS
- 机器人类型:
so_follower - 代码库版本: v3.0
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [5] | 机器人动作，包含5个关节位置（shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, gripper.pos） |
observation.state |
float32 | [5] | 机器人观测状态，同样包含5个关节位置 |
observation.images.front |
video | [720, 1280, 3] | 前置摄像头视频，分辨率720x1280，AV1编码，帧率30 FPS |
observation.images.second |
video | [480, 640, 3] | 第二摄像头视频，分辨率480x640，AV1编码，帧率30 FPS |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 回放片段索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
统计信息
- 总回放片段数 (Total Episodes): 50
- 总帧数 (Total Frames): 19,726
- 总任务数 (Total Tasks): 1
- 数据文件大小: ~100 MB
- 视频文件大小: ~200 MB
- 数据块大小: 1,000 帧
数据划分
- 训练集 (train): 回放片段 0 至 49 (共50个)
文件路径结构
- 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
