motion-hesitant-uncertain-final-20260629_130517

该数据集使用LeRobot框架创建，专门用于机器人技术领域。数据集包含一个完整的训练集，总共有1个任务和1个情节，涵盖373帧数据。数据以parquet格式存储，视频文件为mp4格式，帧率为30fps。数据集的结构包括动作特征（如肩部、肘部、腕部和夹爪的位置）、观察状态（与动作特征相同）以及来自顶部和侧面的图像观察（分辨率为480x640像素，3通道彩色视频）。此外，还包含时间戳、帧索引、情节索引、任务索引等元数据字段。机器人类型为“so_follower”，数据总大小约为300MB（其中数据文件100MB，视频文件200MB）。This dataset is developed with the LeRobot framework, tailored for the robotics domain. The dataset includes a complete training set, which comprises 1 task and 1 episode, covering 373 frames of data. Data is stored in Parquet format, while video files are in MP4 format with a frame rate of 30fps. The structure of the dataset includes action features (such as the positions of the shoulder, elbow, wrist, and gripper), observation states (identical to the action features), and image observations from the top and side perspectives (with a resolution of 480x640 pixels, 3-channel color video). In addition, it also contains metadata fields such as timestamps, frame indices, episode indices, and task indices. The robot type is "so_follower", and the total size of the dataset is approximately 300MB, including 100MB of data files and 200MB of video files.

原始信息汇总

数据集概述

• 名称: motion-hesitant-uncertain-final-20260629_130517
• 许可证: Apache-2.0
• 任务类别: 机器人学
• 创建工具: LeRobot

数据集结构

• 机器人类型: so_follower
• 总片段数: 1
• 总帧数: 373
• 总任务数: 1
• 帧率 (FPS): 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据存储格式:
  • 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
• 训练/测试分割: 仅训练集（train: "0:1"）

特征字段

字段	数据类型	形状	说明
action	float32	[6]	6维动作数据（肩部、肘部、腕部、夹爪位置）
observation.state	float32	[6]	6维状态观测值（与动作维度相同）
observation.images.top	video	[480, 640, 3]	顶视摄像头视频，分辨率480x640，AV1编码，30 FPS
observation.images.side	video	[480, 640, 3]	侧视摄像头视频，分辨率480x640，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

可视化

可通过 LeRobot 数据集可视化工具 在线预览该数据集。