test3_20260704_150212
收藏资源简介：
该数据集是一个基于LeRobot创建的机器人数据集，专门用于记录机器人的动作和观察数据。它包含6维动作向量，用于控制机器人的关节位置，具体包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置；同时，状态观察向量也是6维，与动作向量相对应，提供相同的关节位置信息。数据集还集成了两个摄像头的视频数据：一个是机械臂摄像头，另一个是固定摄像头，视频分辨率为480x640，帧率为30fps，采用AV1编码。此外，数据集包含元数据，如时间戳、帧索引、片段索引和任务索引。数据总共有5个片段，共计2656帧，涉及一个任务，机器人类型为so_follower。数据以parquet格式存储，视频以mp4格式存储，总数据大小约为100MB，视频大小约为200MB。
This robotic dataset is developed based on the LeRobot framework, and is specifically tailored for recording robot motion and observation data. It includes 6-dimensional action vectors for controlling robot joint positions, which specifically cover shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. Meanwhile, the state observation vector is also 6-dimensional, corresponding to the action vector, and provides identical joint position information. The dataset also integrates video data from two cameras: one is the robotic arm-mounted camera, and the other is the fixed camera. The video has a resolution of 480×640, a frame rate of 30fps, and adopts the AV1 encoding format. Additionally, the dataset contains metadata such as timestamps, frame indices, segment indices, and task indices. In total, the dataset has 5 segments, amounting to 2656 frames, involving one single task, and the robot type is so_follower. The tabular data is stored in Parquet format, while the video files are stored in MP4 format. The total size of the non-video data is approximately 100 MB, and the total size of the video files is around 200 MB.
数据集概述
- 名称: test3_20260704_150212
- 创建者: ashwindai
- 许可证: apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, robotics, lerobot, LeLab
数据集描述
该数据集使用 LeRobot 框架创建，旨在用于机器人相关任务。
数据集结构
- 代码版本: v3.0
- 帧率 (FPS): 30
- 总片段数 (episodes): 5
- 总帧数 (frames): 2656
- 总任务数 (tasks): 1
- 机器人类型: so_follower
- 数据划分: 训练集 (train) 包含全部5个片段
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作数据，包含6个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
| observation.state | float32 | [6] | 观测状态，与action结构相同，同样包含6个关节位置 |
| observation.images.arm | video | [480, 640, 3] | 机械臂视角的RGB视频，分辨率480x640，AV1编码，30fps |
| observation.images.fixed | video | [480, 640, 3] | 固定视角的RGB视频，分辨率480x640，AV1编码，30fps |
| 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 |
数据文件
- 数据路径: 存储在 Parquet 文件中，路径格式为
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径: 存储为 MP4 文件，路径格式为
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 分块大小: 1000 帧
