2026-07-15_shakeitup4_bench_accelero_10kHz_nfft_512
收藏资源简介：
该数据集是一个机器人数据集，使用LeRobot工具创建，包含60个集，总计39270帧，帧率为30fps。它主要用于机器人任务，涉及机械臂的动作和状态观测。特征包括动作（包含6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）、观测状态（同样包含6个关节位置）、顶部图像（480x640分辨率，3通道，视频格式）、腕部图像（480x640分辨率，3通道，视频格式）和触觉频谱图（224x224分辨率，3通道，视频格式，基于10kHz加速度计数据和512点FFT生成）。此外，还包括时间戳、帧索引、集索引、索引和任务索引等元数据。数据集结构以Parquet文件存储，视频文件以MP4格式存储，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为so101_follower_dragon_tactile_bench，仅包含训练集（集0到59）。
This is a robotic dataset created using the LeRobot tool, consisting of 60 episodes with a total of 39,270 frames at a frame rate of 30fps. It is primarily designed for robotic tasks, involving actuation and state observation of a robotic arm. The dataset features include actions (comprising six joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (also containing six joint positions), top-view images (480x640 resolution, 3-channel, in video format), wrist-mounted images (480x640 resolution, 3-channel, in video format), and tactile spectrograms (224x224 resolution, 3-channel, in video format, generated from 10kHz accelerometer data and 512-point FFT). Additionally, it includes metadata such as timestamps, frame index, episode index, sample index, and task index. The dataset structure is stored in Parquet files, while the video files are saved in MP4 format. The total size of the data files is 100 MB, and the total size of the video files is 200 MB. The robotic platform is so101_follower_dragon_tactile_bench, and the dataset only contains the training split with episodes ranging from 0 to 59.
数据集概述
- 数据集名称: 2026-07-15_shakeitup4_bench_accelero_10kHz_nfft_512
- 创建工具: LeRobot (https://github.com/huggingface/lerobot)
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
数据集规模
- 总片段数: 60
- 总帧数: 39270
- 总任务数: 1
- 帧率 (FPS): 30
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
数据集结构
数据集包含Parquet和MP4视频文件，存储路径如下：
- 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 - 训练/测试划分: 全部60个片段用于训练 (
train: "0:60")
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含6个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
observation.state |
float32 | [6] | 机器人状态，包含6个关节位置 (与action同结构) |
observation.images.top |
视频 (video) | [480, 640, 3] | 顶部摄像头图像 (高度480，宽度640，3通道)，30fps，AV1编码 |
observation.images.wrist |
视频 (video) | [480, 640, 3] | 腕部摄像头图像 (高度480，宽度640，3通道)，30fps，AV1编码 |
observation.images.tactile_spectrogram_accelero_10kHz_nfft_512 |
视频 (video) | [224, 224, 3] | 触觉传感器加速度计谱图图像 (10kHz采样，512点NFFT)，30fps，AV1编码 |
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 (本数据集仅1个任务) |
机器人类型
- 机器人型号: so101_follower_dragon_tactile_bench
- 机构: 包含触觉传感器和加速度计 (10kHz采样率)
其他信息
- 数据集可视化: 可通过以下链接交互式查看数据集：https://huggingface.co/spaces/lerobot/visualize_dataset?path=jogarulfop/2026-07-15_shakeitup4_bench_accelero_10kHz_nfft_512
- 引用信息: 目前未提供引用格式 (BibTeX待补充)
