a_20260727_205903
收藏资源简介：
这是一个机器人操作数据集，使用LeRobot工具创建。数据集包含6个episodes，总帧数为2330，涉及1个任务。数据特征包括动作（6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观察状态（与动作相同的6个关节位置）、来自手腕和顶部摄像头的视频观察（视频分辨率为480x640，3通道，帧率30fps，使用AV1编码），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为so_follower，数据以Parquet文件格式存储，视频以MP4格式存储，总数据大小约为100MB，视频文件大小约为200MB。数据集适用于机器人学研究和机器学习模型训练。
This is a robotic manipulation dataset created using the LeRobot toolkit. It contains 6 episodes with a total of 2330 frames, corresponding to one single task. The dataset features include actions (6 joint positions: shoulder translation, shoulder lift/lower, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (the same 6 joint positions as the actions), video observations from the wrist and top-mounted cameras (with a resolution of 480×640, 3-channel, 30 fps, encoded with AV1), as well as metadata such as timestamps, frame index, episode index, global index, and task index. The robot type is 'so_follower'. The structured dataset is stored in Parquet file format, while the video files are saved in MP4 format. The total size of the dataset is approximately 100 MB, and the total size of the video files is around 200 MB. This dataset is suitable for robotics research and machine learning model training.
数据集概述
- 数据集名称:
keio-aic/a_20260727_205903 - 许可证: Apache-2.0
- 任务类别: 机器人学（Robotics）
- 标签: LeRobot, 机器人学, LeLab
- 创建工具: 使用 LeRobot 创建
数据集结构
- 数据集版本: v3.0
- 帧率 (FPS): 30
- 总集数: 6
- 总帧数: 2330
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型:
so_follower - 数据划分: 训练集包含全部6个片段
特征描述
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (6,) | 机械臂动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | (6,) | 机械臂观测状态，字段同 action |
observation.images.wrist |
video | (480, 640, 3) | 腕部摄像头视频，分辨率480x640，编码AV1，帧率30fps |
observation.images.top |
video | (480, 640, 3) | 顶部摄像头视频，分辨率480x640，编码AV1，帧率30fps |
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 |
数据文件路径
- 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
引用信息
- 首页: 未提供
- 论文: 未提供
- BibTeX: 未提供
