G1_Test4

该数据集由LeRobot创建，专注于机器人学领域，使用Unitree_G1_Inspire机器人。数据集包含11个episodes，总计8082帧，帧率为30fps。数据以parquet文件格式存储，视频文件以mp4格式存储。数据集仅包含训练集。观测数据包括26维的机器人状态（如左肩俯仰、左肩滚动、左肘等关节角度）和左摄像头的高清图像（分辨率为1080x1920，3通道）。动作数据同样为26维，对应机器人的控制命令。其他特征包括时间戳、帧索引、episode索引、索引和任务索引。数据集总数据文件大小为100MB，视频文件大小为500MB，适用于机器人控制和学习任务。This dataset was developed by LeRobot, focusing on the robotics domain and utilizing the Unitree_G1_Inspire robot. It contains 11 episodes, totaling 8082 frames with a frame rate of 30 fps. The structured data is stored in Parquet file format, while the video files are in MP4 format. Only the training subset is included in this dataset. The observation data includes 26-dimensional robot states (such as joint angles like left shoulder pitch, left shoulder roll, left elbow, etc.) and high-definition images captured by the left camera, with a resolution of 1080x1920 and 3 color channels. The action data is also 26-dimensional, corresponding to the robot's control commands. Additional features include timestamps, frame index, episode index, data index, and task index. The total size of the dataset's data files is 100 MB, and the video files have a size of 500 MB. This dataset is suitable for robotics control and learning tasks.

原始信息汇总

数据集概述

• 数据集名称: G1_Test4
• 数据集地址: https://huggingface.co/datasets/ArturFrost/G1_Test4
• 许可证: Apache-2.0
• 任务类别: 机器人 (robotics)
• 标签: LeRobot

数据集详情

• 创建工具: 使用 LeRobot 创建。
• 机器人类型: Unitree_G1_Inspire
• 数据规模:
  • 总片段数 (total_episodes): 11
  • 总帧数 (total_frames): 8082
  • 总任务数 (total_tasks): 1
  • 数据文件大小: 100 MB
  • 视频文件大小: 500 MB
  • 帧率 (fps): 30
• 数据划分: 所有 11 个片段均用于训练 (train: "0:11")

数据结构

• 数据文件格式: Parquet (路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet)
• 视频文件格式: MP4 (路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4)

特征 (Features)

特征名	数据类型	形状	说明
observation.state	float32	(26,)	26维机器人状态，包含左右肩、肘、腕、手部的关节角度
action	float32	(26,)	26维动作指令，与状态对应
observation.images.cam_left_high	video	(1080, 1920, 3)	左上摄像头视频，分辨率1080x1920，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,)	索引
task_index	int64	(1,)	任务索引

状态/动作命名空间

• 左右肩: kLeftShoulderPitch, kLeftShoulderRoll, kLeftShoulderYaw, kRightShoulderPitch, kRightShoulderRoll, kRightShoulderYaw
• 左右肘: kLeftElbow, kRightElbow
• 左右腕: kLeftWristRoll, kLeftWristPitch, kLeftWristYaw, kRightWristRoll, kRightWristPitch, kRightWristYaw
• 左右手: 共10个维度，包括每根手指的弯曲和旋转

引用信息

• BibTeX: 待补充 ([More Information Needed])