record-test_20260527_230650
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含1个任务、1个完整情节和1797帧数据，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集结构包括动作数据（包含6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（与动作相同的关节位置）、观测图像（来自前摄像头的视频，分辨率为720x1280，3通道RGB格式），以及时间戳、帧索引、情节索引、索引和任务索引等元数据。数据存储为Parquet格式，视频存储为MP4格式。数据集使用Apache 2.0许可证，适用于机器人控制、强化学习或计算机视觉任务。
This robotics dataset was constructed using the LeRobot toolkit. It contains 1 task, 1 complete episode, and 1797 frames of data, with a total data file size of 100 MB and a total video file size of 200 MB, operating at a frame rate of 30 fps. The dataset structure includes action data (comprising 6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (consisting of the same joint positions as the action data), observation images (video from the front-facing camera with a resolution of 720×1280 and 3-channel RGB format), as well as metadata including timestamps, frame indices, episode indices, indices, and task indices. The dataset's tabular data is stored in Parquet format, while the video files are stored in MP4 format. This dataset is licensed under the Apache 2.0 license, and is applicable to robotics control, reinforcement learning, and computer vision tasks.
数据集概述
- 数据集名称:
record-test_20260527_230650 - 创建工具: LeRobot
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 数据集格式: Parquet 文件，包含视频数据
数据集规模与结构
- 总片段数 (Total Episodes): 1
- 总帧数 (Total Frames): 1797
- 总任务数 (Total Tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 数据分割: 训练集 (train) 占全部数据 (0:1)
数据特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | [6] | 机器人状态，与动作维度相同 |
observation.images.front |
video | [720, 1280, 3] | 前置摄像头视频，分辨率 720x1280，3 通道，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] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
机器人类型
- 机器人类型:
so_follower
数据存储结构
- 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 - 数据块大小 (chunks_size): 1000
其他信息
- 首页: [More Information Needed]
- 论文: [More Information Needed]
- 引用 (BibTeX): [More Information Needed]
