eval_rectified_v2_novel_0deg

该数据集是一个机器人学数据集，专门用于so_follower机器人类型，包含15个episodes和2153帧数据。数据以parquet文件格式组织，并附带视频文件。数据集的特征包括动作（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观察状态（与动作相同的状态信息）、来自前置和侧置摄像头的图像观察（分辨率为480x640，3通道，30fps），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。该数据集适用于机器人控制、视觉感知和强化学习任务，由LeRobot工具创建，采用Apache 2.0许可证。This is a robotics dataset specifically designed for the so_follower robot type, containing 15 episodes and 2153 frames of data. The data is organized in Parquet file format, with accompanying video files. The dataset's features include actions such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position, observation states consistent with the action-related state information, image observations captured by front and side-mounted cameras with a resolution of 480x640, 3 channels and 30fps, as well as metadata including timestamps, frame indices, episode indices, indices and task indices. This dataset is suitable for robotics control, visual perception and reinforcement learning tasks. It was developed using the LeRobot toolkit and released under the Apache 2.0 license.

原始信息汇总

数据集概述

• 数据集名称: eval_rectified_v2_novel_0deg
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot

数据集结构

• 机器人类型: so_follower
• 总片段数 (Episodes): 15
• 总帧数 (Frames): 2153
• 总任务数 (Tasks): 1
• 数据块大小 (Chunks Size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据划分 (Splits): 训练集包含全部15个片段 (0:15)

数据特性 (Features)

特性名称	数据类型	形状	描述
action	float32	[6]	包含6个自由度动作：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper 的位置
observation.state	float32	[6]	机器人状态，与动作维度一致
observation.images.front	video	[480, 640, 3]	前置摄像头视频，分辨率480x640，AV1编码，30 FPS
observation.images.side_canonical	video	[480, 640, 3]	侧方标准视角摄像头视频，分辨率480x640，AV1编码，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]	索引
task_index	int64	[1]	任务索引

数据路径

• 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

引用信息

该数据集的引用信息目前为“需要更多信息” ([More Information Needed])。

可视化

可通过 LeRobot 可视化工具在线查看该数据集：可视化链接