eval_debug_task_cell_8_12h23m_02-jul-2026
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，专为机器人任务设计。它包含23个episodes，总计18083帧，数据以parquet文件格式存储，并附带视频文件（总大小约300MB）。数据集的特征包括动作和观察：动作由12个浮点数表示，对应左右机械臂的关节位置和夹爪位置；观察包括状态（同样为12个浮点数）和图像数据，图像来自三个摄像头：左腕摄像头（分辨率720x1280）、右腕摄像头（720x1280）和顶部摄像头（576x1024）。所有视频以20fps录制，使用av1编解码器。数据集仅包含训练集，适用于机器人控制和视觉任务。
This dataset is a robotics dataset constructed using LeRobot, specifically designed for robotic tasks. It consists of 23 episodes, totaling 18083 frames, with data stored in Parquet file format and accompanied by video files with a total size of approximately 300 MB. The dataset features actions and observations: actions are represented by 12 floating-point values, corresponding to the joint positions and gripper positions of the left and right robotic arms; observations include state data (also 12 floating-point values) and image data captured by three cameras, namely the left wrist camera (resolution 720×1280), right wrist camera (720×1280), and top-mounted camera (576×1024). All videos are recorded at 20 frames per second (fps) using the AV1 codec. This dataset only contains a training split, and is suitable for robotic control and computer vision tasks.
数据集概述
- 数据集名称:
eval_debug_task_cell_8_12h23m_02-jul-2026 - 创建工具: 使用 LeRobot 创建
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
数据集结构
- 代码库版本: v3.0
- 机器人类型: so-101
- 总片段数 (episodes): 23
- 总帧数 (frames): 18,083
- 总任务数 (tasks): 1
- 分块大小 (chunks size): 1,000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 20
数据划分
- 训练集 (train): 片段索引 0 至 22 (即全部23个片段)
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (12,) | 12个动作维度，包含左右手臂各6个关节位置 |
observation.state |
float32 | (12,) | 12个状态维度，与动作维度对应 |
observation.images.left_wrist |
视频 (video) | (720, 1280, 3) | 左侧腕部摄像头，分辨率720x1280，AV1编码，20 FPS |
observation.images.right_wrist |
视频 (video) | (720, 1280, 3) | 右侧腕部摄像头，分辨率720x1280，AV1编码，20 FPS |
observation.images.top |
视频 (video) | (576, 1024, 3) | 顶部摄像头，分辨率576x1024，AV1编码，20 FPS |
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 |
数据存储格式
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 主页: 暂无
- 论文: 暂无
- BibTeX: 暂无
