record-test
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专门用于机器人任务。数据集包含10个完整的情节，总计5233帧数据，帧率为30 fps。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100 MB，视频文件大小为200 MB。数据集的特征包括动作（action）和观察状态（observation.state），动作由6个浮点数值组成，分别对应机器人的肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置。观察状态同样包含这6个关节位置。此外，数据集还提供了来自顶部和前置摄像头的图像观测，每个图像的分辨率为480x640，3个通道，视频编码为av1，格式为yuv420p。其他特征包括时间戳、帧索引、情节索引、索引和任务索引。数据集仅包含训练分割（0:10），适用于机器人控制和视觉任务的研究与开发。
This robotic dataset was created using LeRobot, specifically designed for robotics-related tasks. It contains 10 full episodes, totaling 5233 frames at a frame rate of 30 fps. The robot type is so_follower. The dataset is stored in Parquet file format, with a total data file size of 100 MB and a video file size of 200 MB. The dataset's features include action and observation.state. The action consists of 6 floating-point values, corresponding respectively to the robot's shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation.state also contains these 6 joint positions. Additionally, the dataset provides image observations from the top and front-facing cameras. Each image has a resolution of 480×640 with 3 channels, using the AV1 video codec and YUV420p pixel format. Other features include timestamp, frame index, episode index, index, and task index. The dataset only includes the training split (0:10), and is suitable for research and development of robotics control and vision tasks.
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集描述
- 创建工具: 使用 LeRobot 创建
- 数据集可视化: 可视化该数据集
数据集结构
- 代码版本: v3.0
- 机器人类型: so_follower
- 总片段数: 50
- 总帧数: 22981
- 总任务数: 1
- 数据块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 fps
- 数据分割: 训练集 (train): 片段 0-49
特征
- 动作 (action): 6维 float32，包含机械臂关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll) 和夹爪位置 (gripper)
- 观测状态 (observation.state): 6维 float32，与动作特征相同
- 观测图像 (observation.images):
- 顶部相机 (top): 640x480 像素，3通道，AV1 视频编码，30 fps
- 前方相机 (front): 640x480 像素，3通道，AV1 视频编码，30 fps
- 时间戳 (timestamp): float32
- 帧索引 (frame_index): int64
- 片段索引 (episode_index): int64
- 全局索引 (index): int64
- 任务索引 (task_index): int64
