Intel_realsense_20260723_171707
收藏资源简介：
该数据集是由LeRobot创建的机器人模仿学习数据集，主要用于物理人工智能和机器学习任务。数据集包含多模态数据，具体包括：6维的机器人关节位置（如肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置），作为动作和观测状态；来自Intel RealSense相机的RGB视频观测，分辨率为480x640，帧率为30fps；以及时间戳、帧索引、情节索引、索引和任务索引等元数据。数据集总共有50个情节、15324帧和1个任务，数据以parquet格式存储，视频以mp4格式存储，总数据大小约为100MB，视频大小约为200MB。机器人类型为so_follower，适用于训练和评估模仿学习模型。
This dataset is a robotic imitation learning dataset created by LeRobot, primarily intended for physical artificial intelligence and machine learning tasks. It contains multimodal data, specifically including: 6-dimensional robotic joint positions (such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist roll and gripper position), which serve as both actions and observation states; RGB video observations captured by an Intel RealSense camera with a resolution of 480x640 and a frame rate of 30fps; as well as metadata including timestamps, frame indices, episode indices, indices and task indices. In total, the dataset consists of 50 episodes, 15324 frames and 1 task. The structured data is stored in Parquet format while the videos are stored in MP4 format, with the total data size being approximately 100 MB and the total video size around 200 MB. The robotic platform is so_follower, and this dataset is suitable for training and evaluating imitation learning models.
数据集总览
- 数据集名称: Intel_realsense_20260723_171707
- 创建方式: 使用 LeRobot 框架创建
- 许可证: Apache-2.0
- 任务类别: 机器人（Robotics）
- 标签: LeRobot, Robotics, Imitation Learning, Object, Machine Learning, Physical AI, LeLab
- 可视化链接: 可视化该数据集
数据集结构
- 帧率（FPS）: 30
- 数据集总片段数: 50
- 数据集总帧数: 15,324
- 数据集总任务数: 1
- 机器人类型: so_follower
- 数据集分割: 训练集（train）涵盖全部50个片段
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 动作数据，包含肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | (6,) | 观察状态，与动作数据维度一致 |
| observation.images.intel_rgb | video | (480, 640, 3) | RGB图像，分辨率480x640，视频编码为av1，帧率30 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 |
数据文件路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
