am2_bi_test_008

该数据集由LeRobot创建，专注于机器人学任务。它包含动作、观测状态和多个摄像头（前向、左腕、右腕）的视频数据，数据以parquet格式存储。特征包括18维的动作和状态向量（涉及左右机械臂的关节位置、速度等），以及分辨率为480x640的RGB视频（帧率为30fps）。数据集总共有1个episode、1346帧和1个任务，数据文件大小为100MB，视频文件大小为200MB，机器人类型为alohamini_client，使用Apache-2.0许可证。

This dataset was created by LeRobot and focuses on robotics-related tasks. It contains action data, observation states, and video data captured by three cameras (front-facing, left wrist, and right wrist), with all data stored in Parquet format. Its features include an 18-dimensional action and state vector covering joint positions, velocities, and other relevant parameters of the left and right robotic arms, as well as RGB videos with a resolution of 480×640 and a frame rate of 30 fps. In total, this dataset comprises 1 episode, 1346 frames, and 1 task. The data files have a size of 100 MB, the video files total 200 MB, the robot type is alohamini_client, and the dataset is licensed under Apache-2.0.

原始信息汇总

数据集概述

• 数据集名称：am2_bi_test_008
• 数据集地址：https://huggingface.co/datasets/liyitenga/am2_bi_test_008
• 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
• 机器人类型：alohamini_client
• 数据集划分：仅包含训练集 (train: "0:1")

特征 (Features)

特征名称	数据类型	形状	描述
action	float32	[18]	动作指令，包含左右双臂各7个自由度位置、移动底座线速度/角速度、升降轴高度
observation.state	float32	[18]	观测状态，与action维度相同
observation.images.forward	video	[480, 640, 3]	前方摄像头视频，AV1编码，30fps，480p
observation.images.wrist_left	video	[480, 640, 3]	左侧腕部摄像头视频，AV1编码，30fps，480p
observation.images.wrist_right	video	[480, 640, 3]	右侧腕部摄像头视频，AV1编码，30fps，480p
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	回合索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

动作/状态维度名称 (共18维)

左臂：arm_left_shoulder_pan.pos, arm_left_shoulder_lift.pos, arm_left_elbow_flex.pos, arm_left_wrist_flex.pos, arm_left_wrist_yaw.pos, arm_left_wrist_roll.pos, arm_left_gripper.pos 右臂：arm_right_shoulder_pan.pos, arm_right_shoulder_lift.pos, arm_right_elbow_flex.pos, arm_right_wrist_flex.pos, arm_right_wrist_yaw.pos, arm_right_wrist_roll.pos, arm_right_gripper.pos 移动底座：x.vel, y.vel, theta.vel 升降轴：lift_axis.height_mm

数据统计

指标	数值
总回合数 (total_episodes)	1
总帧数 (total_frames)	1346
总任务数 (total_tasks)	1
数据文件大小	100 MB
视频文件大小	200 MB
数据文件路径模板	data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
视频文件路径模板	videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4