dataset-push_20260523_171353

该数据集使用LeRobot创建，专注于机器人学领域。它包含机器人动作和观察状态数据，动作和状态均涉及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。观察数据包括来自左摄像头和顶部摄像头的图像，图像为视频格式，分辨率为480x640，帧率为30fps，使用av1编解码器。数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总共有83个episodes，113208帧，1个任务，数据以parquet文件格式存储，视频以mp4格式存储，机器人类型为so_follower。数据集主要用于训练和评估机器人控制模型，支持多模态学习（如视觉和动作结合）。This dataset is developed using LeRobot and targets the robotics domain. It contains robotic action and observation state data, where both actions and states involve six joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data includes images captured by the left and top cameras, which are stored as video files with a resolution of 480x640, a frame rate of 30fps, and encoded with the AV1 codec. The dataset also includes metadata such as timestamps, frame indices, episode indices, and task indices. In total, the dataset contains 83 episodes, 113208 frames, and 1 task. The tabular data is stored in Parquet file format, while the videos are saved in MP4 format, and the robotic platform type is so_follower. This dataset is primarily used for training and evaluating robotic control models, and supports multimodal learning, e.g., integrating visual inputs and robotic actions.

原始信息汇总

数据集概述

数据集名称：dataset-push_20260523_171353

许可证：Apache-2.0

任务类别：机器人学 (robotics)

标签：LeRobot

创建工具：使用 LeRobot 框架创建

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数据集结构

代码版本：v3.0

帧率 (FPS)：30

机器人类型：so_follower

总集数：83

总帧数：113,208

总任务数：1

数据文件大小：100 MB

视频文件大小：200 MB

数据分块大小：每块 1000 帧

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特征

特征名称	数据类型	形状	说明
action	float32	[6]	6维动作，包含肩部水平旋转、肩部垂直升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置
observation.state	float32	[6]	6维状态观测，与动作特征含义相同
observation.images.left	video	[480, 640, 3]	左侧摄像头视频，分辨率480×640，3通道，AV1编码，30 FPS
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480×640，3通道，AV1编码，30 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

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数据划分

• 训练集 (train)：第 0 至 82 集（共 83 集）

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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

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引用

暂无引用信息（需进一步补充）。