record-test

该数据集是一个使用LeRobot创建的机器人技术数据集，专门针对so101_follower机器人类型。它包含50个总集和29950个总帧，数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。数据集的特征包括动作（如肩部、肘部、腕部和夹爪的位置）、观察状态（包括关节位置和来自前置摄像头及pc_cam的图像）、时间戳、帧索引、集索引和任务索引。图像分辨率为480x640，视频编码为av1，无音频。数据集仅包含训练分割，数据文件总大小为100MB，视频文件总大小为500MB。This is a robotics dataset developed using LeRobot, tailored specifically for the 'so101_follower' robot platform. It consists of 50 total episodes and 29950 total frames. The structured data is stored in Parquet format, while the video data is saved in MP4 format at a frame rate of 30 fps. Key features of the dataset include actions (e.g., positions of the shoulder, elbow, wrist, and gripper), observation states (comprising joint positions and images captured by the front-facing camera and pc_cam), timestamps, frame indices, episode indices, and task indices. The images have a resolution of 480×640, the videos use AV1 encoding, and contain no audio tracks. The dataset only includes the training split. The total size of the structured data files is 100 MB, and the total size of the video files is 500 MB.

原始信息汇总

数据集概述

基本信息

• 许可证: Apache-2.0
• 任务类型: 机器人学 (Robotics)
• 标签: LeRobot
• 数据集创建工具: LeRobot

数据集结构

• 代码库版本: v3.0
• 机器人类型: so101_follower
• 总帧数: 29950 帧
• 总段数: 50 个 episode
• 总任务数: 1 个任务
• 块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 500 MB
• 帧率 (FPS): 30

数据分割

• 训练集: 全部 50 个 episode (0:50)

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

数据集特征

特征名称	数据类型	形状	说明
action	float32	[6]	6维机械臂动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	6维机械臂状态（与动作维度相同）
observation.images.front	video	[480, 640, 3]	前摄像头视频，分辨率 480x640，AV1编码，yuv420p格式，30fps，无音频
observation.images.pc_cam	video	[480, 640, 3]	PC摄像头视频，分辨率 480x640，AV1编码，yuv420p格式，30fps，无音频
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引