I-m-not-a-robot_20260608_142236
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含一个episode的机器人操作数据，总共有748帧，采样频率为30fps。数据集的核心特征包括：动作数据（action），表示机器人6个关节的位置（具体包括肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）；观测状态（observation.state），与动作数据相同的关节位置；两个视频观测（observation.images.front和observation.images.arm），均为RGB视频，分辨率480x640，30fps，使用AV1编解码器编码。此外，数据集还包括时间戳、帧索引、episode索引、索引、任务索引等元数据。数据以Parquet文件格式存储，视频以MP4文件格式存储。机器人类型为“so_follower”。数据集用于训练或评估机器人控制模型，特别适用于涉及视觉和状态观测的模仿学习或强化学习任务。
This is a robotics dataset developed using the LeRobot toolkit. It contains robotic manipulation data for one single episode, totaling 748 frames with a sampling rate of 30 fps. The core features of the dataset include: action data (action), which represents the positions of the robot's 6 joints (specifically shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position); observation state (observation.state), which provides the same joint position data as the action data; and two video observations (observation.images.front and observation.images.arm), both of which are RGB videos with a resolution of 480×640, 30 fps, encoded using the AV1 codec. In addition, the dataset includes metadata such as timestamps, frame indices, episode indices, general indexes, and task indices. The tabular data is stored in Parquet file format, while the video files are stored in MP4 format. The robot type for this dataset is "so_follower". This dataset is intended for training or evaluating robot control models, and is particularly suitable for imitation learning or reinforcement learning tasks involving both visual and state observations.
数据集总结：I-m-not-a-robot_20260608_142236
该数据集为机器人操作数据集，基于Apache-2.0许可证发布，由LeRobot工具生成。
基本信息
- 许可证: apache-2.0
- 任务类别: 机器人 (robotics)
- 数据格式: Parquet (数据文件) + MP4 (视频文件)
- 数据路径:
data/*/*.parquet - 创建工具: LeRobot
数据集规模与结构
- 总片段数 (episodes): 1
- 总帧数 (frames): 748
- 总任务数 (tasks): 1
- 帧率: 30 FPS
- 数据文件大小: 约100 MB
- 视频文件大小: 约200 MB
- 数据分块大小: 每块1000帧
特征与信息
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 机器人关节动作 (6维: 肩部旋转/升降、肘部弯曲、腕部弯曲/旋转、夹爪) |
observation.state |
float32 | [6] | 机器人关节状态 (与动作维度一致) |
observation.images.front |
视频 (AV1编码) | [480, 640, 3] | 前置摄像头视图 (30 FPS, YUV420P) |
observation.images.arm |
视频 (AV1编码) | [480, 640, 3] | 机械臂视角图像 (30 FPS, YUV420P) |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧序号 |
episode_index |
int64 | [1] | 片段编号 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务编号 |
其他信息
- 机器人类型: so_follower
- 数据集划分: 训练集 (train) 包含全部数据 (索引0到1)
- 可视化: 可通过 LeRobot可视化空间 在线查看
