record-test4_20260719_002231

该数据集是由LeRobot创建的机器人数据集，专门用于机器人学习任务。数据集包含1个完整的episode，总计553帧数据。主要特征包括：6维的动作向量和观测状态向量，分别对应机器人六个关节的位置（肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）；前摄像头图像观测，分辨率为480x640，30帧/秒，采用av1编码的mp4视频格式；此外还包含时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet文件格式存储，视频文件单独存储。数据集针对so_follower类型的机器人设计，用于训练和评估机器人控制算法。许可证为Apache-2.0。This robotic dataset was created by LeRobot and is specifically tailored for robotic learning tasks. It contains 1 full episode, totaling 553 frames of data. Its core features include 6-dimensional action vectors and observation state vectors, which respectively correspond to the positions of the robot's six joints: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. It also includes front-facing camera image observations with a resolution of 480×640, captured at 30 frames per second (fps), and stored in av1-encoded MP4 video format. Additional metadata encompasses timestamps, frame indices, episode indices, task indices, and other related information. The dataset data is stored in Parquet file format, while the video files are stored separately. This dataset is designed for so_follower-type robots and is utilized for training and evaluating robotic control algorithms. The license for this dataset is Apache-2.0.

原始信息汇总

数据集概述

基本信息

• 许可证: Apache-2.0
• 任务类别: 机器人技术 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建
• 机器人类型: so_follower

数据集规模

• 总片段数 (Total Episodes): 1
• 总帧数 (Total Frames): 553
• 总任务数 (Total Tasks): 1
• 帧率 (FPS): 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

数据集划分

• 训练集 (train): 索引范围 0:1

特征结构

特征名称	数据类型	形状	描述
action	float32	[6]	包含6个关节的动作指令：shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos、gripper.pos
observation.state	float32	[6]	与动作特征相同的6个关节状态观测值
observation.images.front	video	[480, 640, 3]	前视摄像头视频数据，分辨率480×640，3通道，编码格式av1，帧率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]	索引
task_index	int64	[1]	任务索引

数据存储结构

• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据块大小 (Chunks Size): 1000

代码库版本

• codebase_version: v3.0

引用信息

• BibTeX: 暂无提供