rollout_2026-06-22_shakeitup__diff_duration_nfft_8192_big50_20260622_152947
收藏资源简介：
该数据集是使用LeRobot创建的机器人控制数据集，包含机器人的动作和观测数据。动作数据包括6个关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置），观测数据包括状态信息（同样为6个关节位置）、图像数据（顶部摄像头和腕部摄像头的视频，分辨率480x640，以及触觉频谱图视频，分辨率224x224）以及元数据如时间戳、帧索引、episode索引和任务索引。数据集以Parquet文件格式存储，视频文件为MP4格式，总共有13个episodes、5343帧，帧率为30fps，机器人类型为so101_follower_dragontactile。数据集主要用于机器人学习和控制任务，支持多模态输入（如视觉和触觉数据）。
This robotic control dataset was developed using LeRobot, and includes robot action and observation data. The action data consists of 6 joint positions, including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data covers state information (also the aforementioned 6 joint positions), image data (videos from the top camera and wrist camera with a resolution of 480×640, as well as tactile spectrogram videos with a resolution of 224×224), and metadata such as timestamps, frame indices, episode indices, and task indices. The dataset is stored in Parquet file format, while the video files are in MP4 format. In total, it contains 13 episodes, 5343 frames, with a frame rate of 30 fps, and the robot type is so101_follower_dragontactile. This dataset is primarily intended for robot learning and control tasks, and supports multimodal inputs such as visual and tactile data.
- 许可协议: Apache-2.0
- 任务类别: 机器人学
- 标签: LeRobot
- 数据集创建工具: LeRobot
- 数据集大小:
- 总帧数: 5343 帧
- 总集数: 13 个片段
- 总任务数: 1 个
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据结构:
- 帧率: 30 FPS
- 机器人类型: so101_follower_dragontactile
- 特征:
action: 6维浮点数组，控制6个机器人关节（shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos）observation.state: 6维浮点数组，观测到的机器人关节状态observation.images.top: 顶部视角视频，分辨率 480x640，3通道，AV1编码observation.images.wrist: 腕部视角视频，分辨率 480x640，3通道，AV1编码observation.images.tactile_spectrogram_nfft_8192: 触觉频谱图视频，分辨率 224x224，3通道，AV1编码timestamp: 时间戳，浮点数frame_index: 帧索引，整型episode_index: 片段索引，整型index: 索引，整型task_index: 任务索引，整型
- 数据划分:
train划分，包含全部13个片段（索引0-12） - 引用: 暂无引用信息
