record-test_20260615_190157
收藏资源简介：
该数据集使用LeRobot工具创建，专注于机器人学领域。数据包含机器人动作和观测状态，动作和状态均包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置等6个浮点数值。观测部分包括顶部和手腕摄像头的视频数据，分辨率为480x640，帧率为30fps，编码为av1。数据集还包含时间戳、帧索引、episode索引等元数据。机器人类型为so_follower，总episodes为1，总帧数为1766，数据以parquet格式存储，视频文件为mp4格式。数据集适用于机器人控制、视觉感知等任务，许可证为Apache-2.0。
This dataset was developed using the LeRobot toolkit and focuses on the field of robotics. The data encompasses robot actions and observation states, both of which comprise 6 floating-point values: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation section includes video data captured by the top and wrist cameras, with a resolution of 480x640, a frame rate of 30fps, and encoded in AV1. The dataset also contains metadata such as timestamps, frame indices, and episode indices. The robot type is so_follower, with a total of 1 episode and 1766 total frames. The data is stored in Parquet format, while the video files are in MP4 format. This dataset is suitable for tasks including robot control and visual perception, and is licensed under Apache-2.0.
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集描述
该数据集使用 LeRobot 创建。
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 机器人类型: so_follower
- 总片段数 (Episodes): 1
- 总帧数 (Frames): 1766
- 总任务数 (Tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
特征 (Features)
- action: float32 类型，形状为 [6]，包含 6 个关节名称：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
- observation.state: float32 类型，形状为 [6]，包含与 action 相同的 6 个关节名称
- observation.images.top: 视频数据，形状为 [480, 640, 3] (高、宽、通道)，使用 AV1 编码，30 FPS，YUV420P 像素格式
- observation.images.wrist: 视频数据，形状为 [480, 640, 3]，与 top 摄像头相同的编码参数
- timestamp: float32 类型，形状为 [1]
- frame_index: int64 类型，形状为 [1]
- episode_index: int64 类型，形状为 [1]
- index: int64 类型，形状为 [1]
- task_index: int64 类型，形状为 [1]
数据文件与视频路径
- 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
数据集划分
- 训练集: 全部数据 (chunk 0 到 chunk 0，文件 0 到文件 0)
引用
目前暂无引用信息。
