a_20260727_210257

该数据集是一个由LeRobot创建的机器人控制数据集，专为机器人学习任务设计。它包含25个episodes和9331帧数据，特征涵盖6维动作向量（包括肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）、6维状态观测向量（与动作维度相同），以及来自手腕和顶部摄像头的视频观测（视频分辨率为480x640，3通道，帧率为30fps）。此外，数据集还包括时间戳、帧索引、episode索引和任务索引等元数据。数据以parquet格式存储，视频以mp4格式存储，机器人类型为so_follower，并遵循Apache 2.0许可证。This is a robotic control dataset developed by LeRobot for robotic learning tasks. It contains 25 episodes and 9331 frames of data. The features include a 6-dimensional action vector (comprising shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), a 6-dimensional state observation vector with the same dimensionality as the action vector, video observations from the wrist and top cameras with a resolution of 480×640, 3-channel, and 30 fps, as well as metadata such as timestamps, frame index, episode index, and task index. The tabular data is stored in Parquet format, while the video files are saved in MP4 format. The robot platform associated with this dataset is so_follower, and it is released under the Apache 2.0 license.

原始信息汇总

数据集概述

• 数据集名称: keio-aic/a_20260727_210257
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 创建工具: 使用 LeRobot 创建

数据集结构

• 总集数 (Total Episodes): 25
• 总帧数 (Total Frames): 9331
• 总任务数 (Total Tasks): 1
• 帧率 (FPS): 30
• 机器人类型 (Robot Type): so_follower
• 数据分割 (Splits): 仅提供训练集 (train: 0:25)
• 数据文件格式: Parquet (data/*/*.parquet)
• 视频文件格式: MP4 (videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4)

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	(6,)	6维动作指令，包含肩部、肘部、腕部和夹爪位置
observation.state	float32	(6,)	6维机器人状态，与动作维度一致
observation.images.wrist	video	(480, 640, 3)	腕部摄像头视频，分辨率480x640，编码为av1，帧率30
observation.images.top	video	(480, 640, 3)	顶部摄像头视频，分辨率480x640，编码为av1，帧率30
timestamp	float32	(1,)	时间戳
frame_index	int64	(1,)	帧索引
episode_index	int64	(1,)	集索引
index	int64	(1,)	全局索引
task_index	int64	(1,)	任务索引

数据规模

• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

可视化

您可以通过以下链接在线可视化该数据集：https://huggingface.co/spaces/lerobot/visualize_dataset?path=keio-aic/a_20260727_210257