testcamera_20260717_153529

该数据集是一个用于机器人学习的资源，由LeRobot工具创建。它专门收集了来自so_follower类型机器人的数据，涵盖机器人的动作、观察状态以及来自上方和手腕摄像头的视频图像。具体特征包括：动作（一个6维浮点数组，表示肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）、观察状态（同样为6维浮点数组，与动作相同）、上方摄像头图像（分辨率为480x640x3的视频，采用av1编码，帧率为30fps）、手腕摄像头图像（规格与上方摄像头相同）。此外，数据集还包含时间戳、帧索引、剧集索引、索引和任务索引等元数据。整体规模为5个剧集、1365帧和1个任务，数据文件大小为100MB，视频文件大小为200MB，采用Apache 2.0许可证。This dataset is a robotics learning resource created by the LeRobot toolkit. It specifically collects data from so_follower-type robots, covering robot actions, observed states, and video footage captured by the top-down and wrist cameras. Specific features include: Actions, a 6-dimensional floating-point array representing shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation and gripper position; Observed states, also a 6-dimensional floating-point array consistent with the action array; Top-down camera images, 480x640x3 resolution video encoded in AV1 with a frame rate of 30fps; Wrist camera images with specifications identical to the top-down camera. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, indexes and task indices. The overall scale consists of 5 episodes, 1365 frames and 1 task, with a data file size of 100 MB and a video file size of 200 MB, and it is licensed under the Apache 2.0 license.

原始信息汇总

数据集概述

• 名称: testcamera_20260717_153529
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot, robotics, lerobot, LeLab
• 创建工具: 使用 LeRobot 创建

数据集结构

• 代码库版本: v3.0
• 帧率 (FPS): 30
• 总片段数: 5
• 总帧数: 1365
• 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: 全部 5 个片段用于训练 (train: "0:5")

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[6]	动作指令，包含 6 个关节位置：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
observation.state	float32	[6]	观察状态，与 action 维度一致，反映 6 个关节位置
observation.images.up	video	[480, 640, 3]	上方摄像头视频，分辨率 480x640，AV1 编码，30 FPS，YUV420P 像素格式
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率 480x640，AV1 编码，30 FPS，YUV420P 像素格式
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

数据文件路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据集配置: 默认配置 default，数据文件位于 data/*/*.parquet

引用信息

• 引用格式: BibTeX 信息暂缺