stack-blue-on-red_20260629_180524
收藏资源简介：
该数据集是一个使用LeRobot创建的机器人数据集，专门用于机器人任务。数据集包含3个总集数，1152个总帧数，帧率为30 fps。特征包括动作（如肩部平移、肩部提升、肘部弯曲等6个关节位置）、观测状态（与动作相同的关节位置）、观测图像（来自前摄像头的视频，分辨率为480x640像素，3个通道，编码为av1格式）、时间戳、帧索引、集索引、索引和任务索引。数据以Parquet文件格式存储，视频以MP4格式存储，总数据文件大小为100 MB，视频文件大小为200 MB。机器人类型为so_follower，数据集划分为训练集（包含所有3集）。
This dataset is a robotics dataset created using LeRobot, specifically designed for robotic tasks. It includes 3 total episodes, 1152 total frames at a frame rate of 30 fps. The dataset features consist of actions (6 joint positions such as shoulder pan, shoulder lift, elbow bend, and others), observation states (the same joint positions as the actions), observation images (videos from the front-facing camera with a resolution of 480×640 pixels, 3 channels, encoded in av1 format), timestamps, frame indices, episode indices, sample indices, and task indices. The data is stored in Parquet file format, while the videos are stored in MP4 format. The total size of the data files is 100 MB, and the total size of the video files is 200 MB. The robot type for this dataset is so_follower, and the dataset is split into a training set that contains all 3 episodes.
数据集概述
- 数据集名称: stack-blue-on-red_20260629_180524
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集结构
- 数据格式: Parquet 文件
- 帧率 (FPS): 30
- 机器人类型: so_follower
特征详情
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 包含6个关节的动作位置 |
observation.state |
float32 | (6,) | 机器人状态（6个关节位置） |
observation.images.front |
video | (480, 640, 3) | 前视摄像头视频，分辨率480x640，RGB三通道 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 任务片段索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据统计
| 指标 | 值 |
|---|---|
| 总片段数 (Total Episodes) | 3 |
| 总帧数 (Total Frames) | 1152 |
| 总任务数 (Total Tasks) | 1 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
分割信息
- 训练集 (train): 包含全部3个片段
其他信息
动作与状态关节名称
shoulder_pan.posshoulder_lift.poselbow_flex.poswrist_flex.poswrist_roll.posgripper.pos
