kuro_task_3_bi

这是一个机器人学数据集，使用LeRobot工具创建。数据集包含50个episodes，总计49979帧，帧率为30fps。数据以parquet文件和视频文件形式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集特征包括动作（action）和观察（observation），其中动作和观察状态均包含12个浮点数，分别对应左右机械臂的肩部、肘部、腕部和夹爪的位置。观察还包括来自三个摄像头的图像：左前摄像头、左腕摄像头和右腕摄像头，每个视频的分辨率为360x640，3通道，编码为h264。数据集仅用于训练，机器人类型为bi_so_follower，可能表示一个双手机器人跟随系统。

This is a robotics dataset created using the LeRobot toolkit. The dataset contains 50 episodes, totaling 49,979 frames at a frame rate of 30 fps. The data is stored in both Parquet files and video files, with a total size of 100 MB for all data files and 200 MB specifically for the video files. The dataset features two core modalities: action and observation. Both action and observation consist of 12 floating-point numbers, which respectively correspond to the positions of the shoulder, elbow, wrist and gripper of the left and right robotic arms. Additionally, the observation modality includes images captured by three cameras: the left-front camera, left-wrist camera and right-wrist camera. Each video stream has a resolution of 360×640, 3 color channels, and is encoded in H.264. This dataset is exclusively intended for training purposes. The robot type is bi_so_follower, which likely denotes a dual-arm robotic follower system.

原始信息汇总

数据集概述

• 名称: kuro_task_3_bi
• 主页: [More Information Needed]
• 论文: [More Information Needed]
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot

数据集规模与结构

属性	值
机器人类型	bi_so_follower
总 Episode 数	50
总帧数	49979
总任务数	1
数据文件大小	100 MB
视频文件大小	200 MB
FPS	30
数据分割	训练集 (train): 0-50 (全部)
数据文件格式	Parquet (chunk-xxx/file-xxx.parquet)
视频文件格式	MP4 (videos/{video_key}/chunk-xxx/file-xxx.mp4)

特征 (Features)

• action (12维 float32)
  • 左右机械臂各6个关节位置 (左: 肩关节旋转/抬举、肘关节弯曲、腕关节弯曲/旋转、夹爪; 右: 同上)
• observation.state (12维 float32)
  • 与 action 相同的12个关节位置观测
• observation.images.left_front (视频, 360x640, 3通道, H.264, 30fps)
• observation.images.left_wrist (视频, 360x640, 3通道, H.264, 30fps)
• observation.images.right_wrist (视频, 360x640, 3通道, H.264, 30fps)
• timestamp (float32, 1维)
• frame_index (int64, 1维)
• episode_index (int64, 1维)
• index (int64, 1维)
• task_index (int64, 1维)

引用信息

BibTeX: [More Information Needed]