pick_camamel_20260614_202409

这是一个通过LeRobot创建的机器人数据集，专为机器人学习和控制任务设计。数据集包含机器人的动作数据（以6维浮点数组表示，对应肩关节、肘关节、腕关节和夹爪的位置）、状态观测数据（同样为6维浮点数组，表示关节位置），以及两个摄像头视角的视频数据（手腕摄像头和顶部摄像头，分辨率为480x640，帧率为30fps，采用AV1编码）。此外，数据集还包括时间戳、帧索引、episode索引、任务索引等元数据。数据集总共有5个episodes、3310帧数据、1个任务，数据以Parquet格式存储，视频以MP4格式存储，总数据大小约为100MB，视频大小约为200MB。机器人类型为so_follower，许可证为Apache-2.0。This is a robotic dataset created via LeRobot, specifically designed for robotic learning and control tasks. The dataset includes robotic action data, which is represented as 6-dimensional floating-point arrays corresponding to the positions of the shoulder joint, elbow joint, wrist joint, and gripper, as well as state observation data, also 6-dimensional floating-point arrays indicating joint positions. It also contains video data from two camera viewpoints: the wrist camera and the top-down camera, with a resolution of 480x640, a frame rate of 30fps, and AV1 encoding. In addition, the dataset provides metadata including timestamps, frame indices, episode indices, and task indices. The dataset consists of 5 episodes, 3310 frames of data, and 1 single task. The non-video data is stored in Parquet format while the video files are stored in MP4 format, with a total non-video data size of approximately 100MB and total video size of around 200MB. The robotic platform type is so_follower, and the dataset is licensed under Apache-2.0.

原始信息汇总

数据集概述：makepluscode/pick_camamel_20260614_202409

• 许可协议：Apache-2.0
• 任务类别：机器人学（robotics）
• 标签：LeRobot、robotics、LeLab
• 创建工具：使用 LeRobot 创建

数据集结构

• 帧率：30 FPS
• 机器人类型：so_follower
• 总片段数：5
• 总帧数：3310
• 总任务数：1
• 数据文件大小：100 MB
• 视频文件大小：200 MB
• 训练集分割：train（片段0-4）

特征详情

特征	数据类型	形状	说明
action	float32	[6]	动作指令，包含6个关节位置
observation.state	float32	[6]	机器人状态，包含6个关节位置
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480x640，AV1编码
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480x640，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

动作与状态空间

• 动作名称：shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos、gripper.pos
• 状态名称：shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos、gripper.pos

存储格式

• 数据路径：data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径：videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 代码库版本：v3.0

可视化

• 可通过 可视化空间 预览数据集。