my_openarm_dataset_m7

该数据集使用LeRobot创建，专注于机器人技术领域，特别是针对openarm_follower型机器人。数据集包含73个总片段和37333个总帧数，以30fps的帧率记录。数据特征包括：动作数据（8个关节位置和夹爪位置）、观测状态数据（相同8个位置）、来自胸部和右腕摄像头的视频观测（分辨率分别为480x848和480x640，3个通道，30fps，使用av1编解码器），以及时间戳、帧索引、片段索引、任务索引等元数据。数据以parquet文件（约100MB）和视频文件（约200MB）格式存储，总大小约300MB，适用于机器人控制、模仿学习或计算机视觉任务。数据集结构通过meta/info.json详细定义，并包含训练分割。This dataset is developed with LeRobot, targeting the robotics domain, with a particular focus on the openarm_follower robotic platform. The dataset consists of 73 total segments and 37,333 total frames, recorded at a frame rate of 30 fps. The data features include: action data (8 joint positions and gripper position), observation state data (the same 8 positions), video observations from the chest and right-wrist cameras (resolutions of 480x848 and 480x640 respectively, 3 channels, 30 fps, encoded with the AV1 codec), as well as metadata such as timestamps, frame indices, segment indices, and task indices. The data is stored in Parquet files (approximately 100 MB in total) and video files (approximately 200 MB in total), with an overall size of around 300 MB. It is suitable for robotics control, imitation learning, or computer vision tasks. The structure of the dataset is explicitly defined via meta/info.json, and it includes training splits.

原始信息汇总

数据集概览

数据集名称: my_openarm_dataset_m7
创建工具: LeRobot (https://github.com/huggingface/lerobot)
许可证: Apache-2.0
任务类型: 机器人技术 (Robotics)

数据集结构

• 总片段数 (Total Episodes): 73
• 总帧数 (Total Frames): 37,333
• 总任务数 (Total Tasks): 1
• 帧率 (FPS): 30
• 数据文件大小: 100 MB
• 视频文件大小: 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
• 机器人类型: openarm_follower
• 数据划分: 训练集 (Train) 包含全部 73 个片段

特征信息

特征名称	数据类型	形状	描述
action	float32	[8]	关节位置 (joint_1.pos 至 joint_7.pos) + 夹爪位置 (gripper.pos)
observation.state	float32	[8]	关节位置 (joint_1.pos 至 joint_7.pos) + 夹爪位置 (gripper.pos)
observation.images.chest	video	[480, 848, 3]	胸部视角视频 (高度480, 宽度848, 3通道, AV1编码, 30 FPS)
observation.images.right_wrist	video	[480, 640, 3]	右腕视角视频 (高度480, 宽度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]	片段索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

视频编码参数

• 编码器: AV1 (av1)
• 像素格式: yuv420p
• 帧率: 30 FPS
• 通道数: 3
• CRF: 30
• 预设: 12
• 后端: PyAV

引用信息

暂无可用引文（BibTeX 待补充）。