record-test_20260726_070900

该数据集是一个机器人学数据集，使用LeRobot工具创建，专门用于机器人控制和学习任务。数据集包含一个episode，总计534帧，数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括动作（action）和观测（observation），其中动作和观测状态都涉及6个关节位置：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。观测还包括来自前部和腕部摄像头的图像数据，图像分辨率为480x640像素，帧率为15fps，视频编码为av1。此外，数据集包含时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为“so_follower”，适用于训练和评估机器人控制模型。This robotics dataset was developed using the LeRobot toolkit, specifically tailored for robotic control and machine learning tasks. The dataset contains exactly one episode, with a total of 534 frames. The core data is stored in Parquet format, with a total file size of 100 MB, while the video files have a combined size of 200 MB. The dataset features include action and observation modalities: both action and observation states involve six joint positions, namely shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observation data also includes image data captured by the front-facing and wrist-mounted cameras, with an image resolution of 480×640 pixels, a frame rate of 15 fps, and the video is encoded using the AV1 codec. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, indices, and task indices. The robotic platform type is "so_follower", and this dataset is applicable for training and evaluating robotic control models.

原始信息汇总

数据集概述

• 数据集名称: record-test_20260726_070900
• 发布者: TyreseKim
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: LeRobot

数据集规模

• 总片段数 (episodes): 1
• 总帧数 (frames): 534
• 总任务数 (tasks): 1
• 帧率 (FPS): 15
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

数据特征

动作 (action)

• 数据类型: float32
• 形状: 6 维
• 维度名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

观测状态 (observation.state)

• 数据类型: float32
• 形状: 6 维
• 维度名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

观测图像 (observation.images)

• 前视摄像头 (observation.images.front)
  • 数据类型: 视频
  • 分辨率: 480x640
  • 通道数: 3
  • 编码格式: av1
  • 像素格式: yuv420p
  • 帧率: 15 FPS
• 腕部摄像头 (observation.images.wrist)
  • 数据类型: 视频
  • 分辨率: 480x640
  • 通道数: 3
  • 编码格式: av1
  • 像素格式: yuv420p
  • 帧率: 15 FPS

其他特征

• timestamp: float32, 形状 [1]
• frame_index: int64, 形状 [1]
• episode_index: int64, 形状 [1]
• index: int64, 形状 [1]
• task_index: int64, 形状 [1]

机器人类型

• 机器人型号: so_follower

数据划分

• 训练集: 索引 0 至 1 (全量数据)

数据存储结构

• 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
• 数据集配置文件: data/*/*.parquet

可视化

可通过 可视化工具 预览数据集内容。