lift_red_cube_static_v2

该数据集由LeRobot创建，专注于机器人技术领域，具体任务为抬起红色立方体（静态）。它包含10个episodes，总计1523帧，以每秒30帧的速率录制。数据特征涵盖机器人的动作（包括肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹持器位置，共6个关节位置）和观测状态（同样为6个关节位置）。观测还包括两个视角的图像：前视和整体视角，均为480x640分辨率的视频，采用AV1编码。此外，数据集提供元数据，如时间戳、帧索引、episode索引、索引和任务索引。机器人类型为so_follower，总大小约300MB（其中数据文件占100MB，视频文件占200MB），数据以Parquet格式存储，视频以MP4格式存储。This dataset was developed by LeRobot, focusing on the robotics domain, with the specific task of lifting a static red cube. It contains 10 episodes, totaling 1523 frames, recorded at 30 frames per second (fps). The dataset's features cover robot actuation data (6 joint positions in total: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and observation states, which also consist of 6 joint positions. Additionally, the observations include image data from two viewpoints: a front-facing view and a global overview, both stored as videos with a resolution of 480×640 and encoded using the AV1 codec. The dataset provides comprehensive metadata including timestamps, frame indices, episode indices, sample indices, and task indices. The robot platform is so_follower. The total size of the dataset is approximately 300 MB, with 100 MB allocated to structured data files and 200 MB to video files. The structured data is stored in Parquet format, while the video files are stored in MP4 format.

原始信息汇总

数据集概述

• 数据集名称: OctpusVLA/lift_red_cube_static_v2
• 许可协议: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 数据格式: Parquet 文件 (位于 data/*/*.parquet)
• 视频格式: MP4 文件 (位于 videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4)
• 帧率 (fps): 30
• 机器人类型: so_follower

特征字段

字段名	数据类型	形状	说明
action	float32	[6]	6个关节动作 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
observation.state	float32	[6]	6个关节状态 (与动作命名相同)
observation.images.front	video	[480, 640, 3]	前置摄像头图像 (AV1编码, 30fps)
observation.images.overall	video	[480, 640, 3]	全局视角摄像头图像 (AV1编码, 30fps)
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	剧集索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引

数据统计

指标	数值
总剧集数	10
总帧数	1523
总任务数	1
数据文件大小	约 100 MB
视频文件大小	约 200 MB
分割 (train)	0:10 (所有剧集用于训练)

元数据文件

• meta/info.json 中包含完整的数据集结构描述和配置信息。