train_baseline_20260722_195001
收藏资源简介：
该数据集由LeRobot创建，属于机器人领域，专门用于机器人任务的数据收集。数据集包含5个完整episodes，总计3106帧数据，每帧数据包括机器人的动作（6个关节位置：肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、状态观测（同样为6个关节位置）、顶部和前置摄像头拍摄的图像（视频格式，分辨率为480x640，3通道，帧率为30fps，使用AV1编码），以及时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet格式存储，视频以mp4格式存储，总数据大小约为100MB，视频文件大小约为200MB。数据集适用于机器人控制、视觉感知等研究任务。
This dataset was developed by LeRobot for the robotics domain, and is specifically intended for data collection in robotic tasks. It contains 5 complete episodes, totaling 3106 frames of data. Each frame includes the robot's actions (6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and state observations (also consisting of 6 joint positions). Additionally, each frame has images captured by the top and front-facing cameras, which are in video format with a resolution of 480×640, 3 channels, 30fps frame rate, and encoded using AV1. The dataset also provides metadata including timestamps, frame indices, episode indices, and task indices. The tabular data is stored in Parquet format, while the video files are stored in MP4 format. The total size of the non-video dataset is approximately 100 MB, and the total size of the video files is around 200 MB. This dataset is applicable to research tasks such as robot control and visual perception.
数据集概述
- 数据集名称:
train_baseline_20260722_195001 - 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
- 总片段数 (Episodes): 5
- 总帧数 (Frames): 3,106
- 总任务数 (Tasks): 1
- 帧率 (FPS): 30
- 机器人类型:
so_follower - 数据集划分: 仅包含训练集 (
train: 0:5)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 机器人动作，包含6个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
observation.state |
float32 | (6,) | 机器人观测状态，同样包含6个关节位置 |
observation.images.top |
video | (480, 640, 3) | 顶部摄像头图像，分辨率480x640，RGB三通道，编码为AV1，30fps |
observation.images.front |
video | (480, 640, 3) | 前方摄像头图像，分辨率480x640，RGB三通道，编码为AV1，30fps |
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 |
数据文件
- 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 - 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 分块大小: 1000
引用信息
引用信息当前为 [More Information Needed]，暂无可用 BibTeX 条目。
