fifty_20260704_123435
收藏资源简介：
该数据集是使用LeRobot创建的机器人控制数据集，专为机器人任务设计。它包含50个episodes，总计15943帧，帧率为30fps。数据结构涵盖动作（action）和观测（observation），其中动作有6个维度，例如肩部平移、肩部提升、肘部弯曲等位置控制；观测包括状态（6维关节位置）和图像（来自Workspace和Gripper视角的RGB视频，分辨率为480x640）。此外，数据集还包含时间戳、帧索引、episode索引等元数据。它使用Apache 2.0许可证，机器人类型为so_follower，主要用于训练和测试机器人控制模型。
This dataset is a robotic control dataset created using LeRobot, specifically designed for robotic tasks. It contains 50 episodes, totaling 15943 frames with a frame rate of 30 fps. Its data structure covers actions and observations: the actions have 6 dimensions, including position controls such as shoulder translation, shoulder elevation, elbow flexion, and others; the observations include states (6-dimensional joint positions) and images (RGB videos from the Workspace and Gripper viewpoints with a resolution of 480x640). Additionally, the dataset includes metadata such as timestamps, frame indices, and episode indices. It is licensed under Apache 2.0, adopts the so_follower robot type, and is primarily intended for training and testing robotic control models.
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 数据集创建工具: LeRobot
- 数据格式: Parquet 文件与 MP4 视频文件
数据集结构
- 总片段数 (Episodes): 50
- 总帧数 (Frames): 15,943
- 总任务数 (Tasks): 1
- 帧率 (FPS): 30
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 机器人类型: so_follower
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机械臂动作，包含 6 个关节位置（肩部、肘部等） |
| observation.state | float32 | [6] | 机械臂状态，与动作维度对应 |
| observation.images.Workspace | video | [480, 640, 3] | 工作区摄像头视频 (AV1 编码，30fps) |
| observation.images.Gripper | video | [480, 640, 3] | 夹爪摄像头视频 (AV1 编码，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 |
数据拆分
- 训练集 (train): 包含全部 50 个片段（索引 0-49）
数据路径
- 结构化数据:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频数据:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
