2026-07-15_shakeitup4_bench_dragonfly_10kHz_nfft_512
收藏资源简介：
该数据集由LeRobot创建，专为机器人研究设计，包含机器人执行任务时的动作、状态观测、图像和触觉频谱图数据。具体特征包括：动作（6个关节位置）、状态观测（6个关节位置）、顶部图像（480x640x3）、腕部图像（480x640x3）和触觉频谱图（224x224x3）。数据集总共有60个episodes、39270帧，帧率为30fps，数据以parquet格式存储，视频以mp4格式存储，总数据大小约为300MB。机器人类型为so101_follower_dragon_tactile_bench，适用于训练任务。
Created by LeRobot, this dataset is specifically developed for robotics research, encompassing action data, state observations, images, and tactile spectrograms collected during robot task execution. Specific modalities include: actions (6 joint positions), state observations (6 joint positions), top images (480×640×3), wrist images (480×640×3), and tactile spectrograms (224×224×3). The dataset contains a total of 60 episodes and 39,270 frames, with a frame rate of 30 fps. Structured data is stored in Parquet format, while video data is stored in MP4 format, with an approximate total size of 300 MB. The targeted robot platform is so101_follower_dragon_tactile_bench, which is suitable for task training.
- 数据集名称: jogarulfop/2026-07-15_shakeitup4_bench_dragonfly_10kHz_nfft_512
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 帧率: 30 FPS
- 机器人类型:
so101_follower_dragon_tactile_bench - 总集数: 60
- 总帧数: 39270
- 总任务数: 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据路径格式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径格式:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据划分: 训练集（0:60）
数据特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 6维动作空间：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | (6,) | 6维状态空间，与动作空间一致 |
observation.images.top |
video | (480, 640, 3) | 俯视相机图像，编码为AV1，分辨率480x640，RGB |
observation.images.wrist |
video | (480, 640, 3) | 腕部相机图像，编码为AV1，分辨率480x640，RGB |
observation.images.tactile_spectrogram_dragonfly_10kHz_nfft_512 |
video | (224, 224, 3) | 触觉频谱图图像，编码为AV1，分辨率224x224，RGB，采样率10kHz，FFT点数512 |
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 |
