train_v1_RGB_20260718_173943
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot创建，包含20个训练集，总帧数为13870，帧率为30fps。动作特征包括6个浮点型数据，对应机器人关节位置，具体为肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置。观测特征包括状态信息（与动作特征相同）和图像数据，图像来自前部和顶部摄像头，分辨率为480x640，3通道，视频编码为av1。数据集还包含时间戳、帧索引、集索引、索引和任务索引等元数据。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。
This is a robotics dataset developed using LeRobot. It contains 20 training sets, with a total of 13870 frames and a frame rate of 30 fps. The action features consist of 6 floating-point values corresponding to robot joint positions, specifically shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation features include state information (identical to the action features) and image data. The images are captured by front and top cameras, with a resolution of 480×640, 3 color channels, and the video is encoded in av1 format. The dataset also includes metadata such as timestamps, frame index, set index, index, and task index. The robot type is so_follower. The data is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB.
数据集概述
- 数据集名称: train_v1_RGB_20260718_173943
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 该数据集使用 LeRobot 创建
数据集结构
- 代码库版本: v3.0
- 帧率 (fps): 30
- 总片段数 (total_episodes): 20
- 总帧数 (total_frames): 13870
- 总任务数 (total_tasks): 1
- 数据块大小 (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: 所有20个片段均用于训练 (splits: train: 0:20)
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 6维观察状态，特征名称与action一致 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率480x640，3通道，AV1编码，30fps |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，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 |
数据文件路径
- 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
引用
- BibTeX: 待补充 (More Information Needed)
