hackathon-tunes

该数据集使用LeRobot创建，是一个机器人学数据集，专注于机器人控制任务。数据集包含10个完整episodes，总计20538帧，覆盖2个不同任务。数据以parquet格式存储，视频文件为mp4格式，总数据大小约100MB，视频文件大小约200MB，帧率为30fps。特征包括：动作空间（6自由度关节角度，包括肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹持器控制）、观测状态（与动作空间相同的6自由度关节角度）、顶部摄像头图像（分辨率1280x720，RGB三通道）和侧面摄像头图像（分辨率640x480，RGB三通道），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人学习、控制算法开发和模仿学习等任务。This dataset is developed using LeRobot, focusing on robotic control tasks as a robotics research dataset. It contains 10 complete episodes, totaling 20538 frames, covering 2 distinct tasks. The data is stored in Parquet format, with video files in MP4 format. The total size of the dataset data is approximately 100 MB, while the total size of the video files is around 200 MB, with a frame rate of 30 fps. The included features are as follows: the action space consists of 6-degree-of-freedom (DoF) joint angles, including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper control; the observation state includes the same 6-degree-of-freedom joint angles as the action space; top-view camera images with RGB 3-channel and a resolution of 1280×720; side-view camera images with RGB 3-channel and a resolution of 640×480, as well as metadata such as timestamps, frame indices, and episode indices. This dataset is applicable to tasks such as robotic learning, control algorithm development, and imitation learning.

原始信息汇总

数据集概述：hackathon-tunes

• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 创建工具: LeRobot

数据集结构

属性	值
代码库版本	v3.0
机器人类型	so100_follower
总片段数	10
总帧数	20538
总任务数	2
块大小	1000
数据文件大小	100 MB
视频文件大小	200 MB
帧率	30 fps
训练集划分	片段 0 到 9 (全部)

特征说明

特征名称	数据类型	形状	说明
action	float32	(6,)	动作向量，包含：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
observation.state	float32	(6,)	观测状态，与动作向量名称相同
observation.images.top	video	(720, 1280, 3)	顶部摄像头视频，AV1编码，30fps，720p
observation.images.side	video	(480, 640, 3)	侧面摄像头视频，AV1编码，30fps，480p
timestamp	float32	(1,)	时间戳
frame_index	int64	(1,)	帧索引
episode_index	int64	(1,)	片段索引
index	int64	(1,)	索引
task_index	int64	(1,)	任务索引

数据文件路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

引用信息

当前未提供论文和 BibTeX 引用信息。