test6_20260704_161503
收藏资源简介：
该数据集是一个用于机器人学习的数据集，基于LeRobot创建，包含50个剧集，总计42419帧，帧率为30fps。数据特征包括6维浮点型动作和状态观测（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），以及来自固定摄像头和机械臂摄像头的视频观测（分辨率为480x640，3通道RGB，编码为av1）。数据集还包括时间戳、帧索引、剧集索引、索引和任务索引等元数据。机器人类型为so_follower，数据以Parquet文件格式存储，视频以MP4格式存储，总数据大小为100MB，视频大小为200MB。数据集仅包含训练分割（剧集0到50），适用于机器人控制、模仿学习等任务。
This is a robotics learning dataset developed based on LeRobot. It consists of 50 episodes, with a total of 42,419 frames at a frame rate of 30 fps. The dataset includes 6-dimensional floating-point action and state observations, which correspond to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. It also provides video observations captured by fixed cameras and the robotic arm's on-board camera, with a resolution of 480x640, 3-channel RGB, encoded using the av1 codec. Supplementary metadata includes timestamps, frame indices, episode indices, sample indices, and task indices. The target robotic platform is so_follower. The tabular data is stored in Parquet file format, while the video data is stored in MP4 format. The total size of the tabular data is 100 MB, and the total size of the video files is 200 MB. The dataset only contains the training split (episodes 0 to 50), and is applicable to tasks such as robot control and imitation learning.
数据集概述
- 数据集名称: test6_20260704_161503
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, Robotics, LeLab
数据集创建
该数据集使用 LeRobot 框架创建。
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 机器人类型: so_follower
特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 机器人动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | (6,) | 机器人状态：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.images.Fixed | video | (480, 640, 3) | 固定视角图像，编码为 AV1，30 FPS，无深度信息 |
| observation.images.arm | video | (480, 640, 3) | 机械臂视角图像，编码为 AV1，30 FPS，无深度信息 |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 回合索引 |
| index | int64 | (1,) | 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
统计信息
| 指标 | 数值 |
|---|---|
| 总回合数 | 50 |
| 总帧数 | 42419 |
| 总任务数 | 1 |
| 块大小 | 1000 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
数据集划分
- 训练集: 第 0 至 49 回合 (train: "0:50")
