close_20260727_195117

该数据集是一个机器人领域的数据集，使用LeRobot工具创建，专注于机器人操作任务。数据集包含5个回合，总计1078帧数据，帧率为30fps。特征包括机器人的动作（6维浮点数组，对应肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（与动作相同的6维关节位置）、以及两个视角的图像观测：俯视（overhead）和腕部（wrist）视频，分辨率为480x640，编码格式为av1。此外，还包含时间戳、帧索引、回合索引、任务索引等元数据。数据以parquet格式存储，总大小约为300MB（数据文件100MB，视频文件200MB），机器人类型为so_follower，适用于训练和评估机器人控制模型。This is a robotics dataset created using the LeRobot tool, focusing on robotic manipulation tasks. It comprises 5 episodes with a total of 1078 frames at a frame rate of 30 fps. The features include robot actions (a 6-dimensional floating-point array corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation and gripper position), observation states (6-dimensional joint positions matching the same joint set as the robot actions), as well as image observations from two viewpoints: overhead and wrist videos, with a resolution of 480x640 and encoded in AV1 format. Additionally, it includes metadata such as timestamps, frame indices, episode indices and task indices. The data is stored in Parquet format, with a total size of approximately 300 MB (100 MB for data files and 200 MB for video files). The robot type is so_follower, and this dataset is suitable for training and evaluating robotic control models.

原始信息汇总

数据集概述

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

数据集结构

• 总片段数：5
• 总帧数：1078
• 总任务数：1
• 帧率：30 FPS
• 机器人类型：so_follower
• 数据分割：训练集（0至4号片段）

特征说明

特征名称	数据类型	形状	说明
action	float32	[6]	6维动作，包含肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部滚动、夹爪位置
observation.state	float32	[6]	6维状态观测，与动作维度一致
observation.images.overhead	视频 (av1编码)	[480, 640, 3]	俯视摄像头图像，30 FPS，YUV420P格式
observation.images.wrist	视频 (av1编码)	[480, 640, 3]	腕部摄像头图像，30 FPS，YUV420P格式
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

• 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
• 数据文件大小：约100 MB
• 视频文件大小：约200 MB
• 分块大小：1000