nvidia1

该数据集是通过LeRobot项目创建的机器人演示数据集，专门用于机器人技术研究。数据集包含一个完整的episode，共计898帧数据，帧率为30fps。数据特征包括：6维关节位置的动作（肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）和对应的观察状态（相同6维关节位置）；两个视频图像流观察，分别来自顶部摄像头和夹爪摄像头，均为彩色视频，分辨率480x640，编码格式为AV1；此外还包括时间戳、帧索引、episode索引、任务索引等元数据。数据集以parquet文件格式存储，视频以mp4格式存储，总数据量约300MB（数据100MB，视频200MB）。机器人类型为so_follower，适用于训练和评估机器人控制模型。This is a robot demonstration dataset developed through the LeRobot project, exclusively designed for robotics research. The dataset contains one complete episode with a total of 898 frames at a frame rate of 30fps. Its data features include: 6-dimensional joint position actions (shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and corresponding observation states (the same 6-dimensional joint positions); two video image stream observations sourced from the top-mounted camera and the gripper-mounted camera respectively, both are color videos with a resolution of 480x640 and encoded in AV1 format; in addition, metadata such as timestamps, frame indices, episode indices, and task indices are also included. The dataset is stored in Parquet file format, while the video files are stored in MP4 format, with a total data size of approximately 300MB (100MB for structured data and 200MB for videos). The robot type associated with this dataset is so_follower, which is applicable for training and evaluating robot control models.

原始信息汇总

• 许可证: Apache-2.0
• 任务类别: 机器人学（robotics）
• 标签: LeRobot
• 数据集配置: 默认配置（default），数据文件路径为 data/*/*.parquet
• 数据集创建: 使用 LeRobot 创建
• 数据集可视化: 可通过 可视化空间 进行查看

数据集结构

• 编码库版本: v3.0
• 帧率（FPS）: 30
• 总片段数: 1
• 总帧数: 898
• 总任务数: 1
• 数据文件大小: 约 100 MB
• 视频文件大小: 约 200 MB
• 机器人类型: so_follower
• 数据集划分: 训练集（train）占比 0:1

特征详情

• action:
  • 类型: float32
  • 形状: [6]
  • 名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
• observation.state:
  • 类型: float32
  • 形状: [6]
  • 名称: 与 action 相同
• observation.images.top:
  • 类型: 视频
  • 形状: [480, 640, 3] (高 x 宽 x 通道)
  • 编码: av1, yuv420p
  • 帧率: 30 FPS
• observation.images.gripper:
  • 类型: 视频
  • 形状: [480, 640, 3]
  • 编码: av1, yuv420p
  • 帧率: 30 FPS
• timestamp: float32, 形状 [1]
• frame_index: int64, 形状 [1]
• episode_index: int64, 形状 [1]
• index: int64, 形状 [1]
• task_index: int64, 形状 [1]

数据与视频路径

• 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