record-test-100-episodes-merged

该数据集是一个机器人控制数据集，使用LeRobot工具创建。它包含59个episodes，总计22690帧数据，数据以30fps的帧率采集。数据集结构包括动作和观察数据：动作数据为6维浮点向量，对应机器人关节位置（具体包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）；观察数据包括状态向量（同样为6维关节位置）和两个视频流——腕部摄像头和桌面摄像头，视频分辨率为480x640，3通道，编码为AV1格式。此外，数据集还包含时间戳、帧索引、episode索引等元数据。机器人类型为so_follower，数据以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集仅包含训练分割，涵盖所有episodes。

This is a robotics control dataset developed with the LeRobot toolkit. It consists of 59 episodes, totaling 22690 frames collected at a frame rate of 30fps. The dataset structure encompasses action and observation data: the action data is a 6-dimensional floating-point vector corresponding to the robot joint positions, specifically including shoulder pan, shoulder lift, elbow flexion, wrist flexion, wrist roll, and gripper position. The observation data includes a state vector (also a 6-dimensional joint position vector) and two video streams: the wrist camera and the tabletop camera. The videos have a resolution of 480×640, 3 channels, and are encoded in AV1 format. Additionally, the dataset contains metadata such as timestamps, frame indices, and episode indices. The robot type is so_follower. The data is stored in Parquet file format, with a total data file size of 100MB and a video file size of 200MB. The dataset only includes the training split, covering all episodes.

原始信息汇总

数据集概述

• 许可证: Apache-2.0
• 任务类别: 机器人技术 (Robotics)
• 标签: LeRobot
• 创建工具: LeRobot (https://github.com/huggingface/lerobot)

数据集结构

• 配置名称: default
• 数据文件: data/*/*.parquet
• 代码库版本: v3.0
• 帧率 (FPS): 30
• 总片段数: 59
• 总帧数: 22690
• 总任务数: 1
• 数据分块大小 (chunks_size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower
• 数据划分: 训练集 (0:59)

特征字段

特征名	数据类型	形状	说明
action	float32	[6]	包含肩部旋转、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置的6维动作指令
observation.state	float32	[6]	与动作对应的6维机器人状态 (相同名称和维度)
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480x640，3通道，AV1编码，30FPS
observation.images.table	video	[480, 640, 3]	桌面摄像头视频，分辨率480x640，3通道，AV1编码，30FPS
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

数据存储路径

• 数据: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

引用信息

• 论文: 待补充
• BibTeX: 待补充