my_lerobot_2026
收藏资源简介：
该数据集使用LeRobot创建，是一个机器人领域的数据集，专门用于so_follower类型的机器人。数据集包含10个episodes，总计3998帧，涉及1个任务。数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。特征包括：动作数据（6维浮点数，表示机械臂的肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置等关节位置）、观测状态（与动作相同的6维浮点数，表示机械臂的关节位置）、观测图像（来自前摄像头的480x640分辨率RGB视频，无音频）、时间戳、帧索引、episode索引、索引和任务索引。数据集主要用于机器人控制和模仿学习等任务。
This dataset is constructed using LeRobot, a robotics-specific dataset tailored for so_follower-type robots. It includes 10 episodes, totaling 3998 frames, and covers one single task. The dataset's data is stored in Parquet file format, while the accompanying videos are saved in MP4 format at a frame rate of 30 fps. Its features are as follows: action data (6-dimensional floating-point numbers representing joint positions of the robotic arm, including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (6-dimensional floating-point values identical to the action data, representing the joint positions of the robotic arm), observation images (480×640 resolution RGB videos from the front-facing camera, with no audio), timestamps, frame indices, episode indices, indices, and task indices. This dataset is primarily used for tasks such as robotic control and imitation learning.
数据集概述
数据集名称: my_lerobot_2026
许可证: Apache-2.0
任务类别: 机器人 (Robotics)
标签: LeRobot
创建工具: 使用 LeRobot 创建
数据集结构
- 机器人类型: so_follower
- 总剧集数 (Episodes): 10
- 总帧数 (Frames): 3998
- 总任务数 (Tasks): 1
- 分块大小 (Chunks): 1000
- 数据文件大小 (Data Files): 100 MB
- 视频文件大小 (Video Files): 200 MB
- 帧率 (FPS): 30
- 数据集划分: 训练集 (train): 0-10 剧集
数据特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含 6 个关节的动作指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 机器人状态观测，包含与动作相同的 6 个关节位置信息 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率 480x640，3 通道，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] | 剧集索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
文件结构
- 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
引用信息
BibTeX: 当前尚未提供，需后续补充。
