2026-07-06_shakeitup_diff_duration_v3_without_any_spectro
收藏资源简介：
该数据集是一个由LeRobot创建的机器人控制数据集，主要用于机器人学习和控制任务。它包含50个episodes，总计27877帧，以30fps的帧率录制。数据特征包括动作（action）和观察状态（observation.state），均为6维浮点数组，表示机器人关节位置，如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹持器位置。观察部分还包括来自顶部（top）和手腕（wrist）摄像头的图像，分辨率为480x640，3通道，格式为视频（使用AV1编解码器）。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据以parquet文件格式存储，视频文件以mp4格式存储，总数据大小约为100MB，视频大小约为200MB。该数据集适用于训练和评估机器人控制模型，并支持多任务学习。
This dataset is a robotic control dataset developed by LeRobot, primarily designed for robotic learning and control tasks. It contains 50 episodes, with a total of 27,877 frames recorded at 30 fps. The data features include action and observation.state, both 6-dimensional floating-point arrays that represent the robot's joint positions, such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation component also includes images captured by the top and wrist cameras, with a resolution of 480×640, 3 channels, and stored in video format using the AV1 codec. In addition, the dataset includes metadata such as timestamps, frame indices, episode indices, individual indices, and task indices. The data is stored in Parquet file format, while the video files are stored in MP4 format. The total size of the tabular data is approximately 100 MB, and the total size of the video files is around 200 MB. This dataset is suitable for training and evaluating robotic control models, and supports multi-task learning.
数据集概述
- 数据集名称：2026-07-06_shakeitup_diff_duration_v3_without_any_spectro
- 许可证：Apache-2.0
- 任务类别：机器人学（robotics）
- 标签：LeRobot
- 创建工具：使用 LeRobot 创建
数据集结构
- 代码版本：v3.0
- 帧率：30 FPS
- 机器人类型：so101_follower_dragon_multiduration
- 总集数：50
- 总帧数：27877
- 总任务数：1
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 分块大小：1000
特征信息
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 包含6个关节位置：shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper |
| observation.state | float32 | [6] | 观测状态，与action的关节名称一致 |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头图像，AV1编码，30 FPS，分辨率480x640 |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头图像，AV1编码，30 FPS，分辨率480x640 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据拆分
- 训练集：0:50（即全集用于训练）
数据文件路径
- 数据文件：
data/*/*.parquet - 视频文件：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
