Lerobot_training_20260721_181406
收藏资源简介：
该数据集使用LeRobot工具创建，是一个专注于机器人控制任务的视频数据集，用于训练和评估机器人行为。它包含单个episode，总时长为1232帧，以30帧每秒的帧率录制。数据集中包括动作数据（由6个浮点数表示，涵盖机器人肩部、肘部、腕部和抓取器的位置）、观察状态数据（与动作数据相同，提供机器人当前状态反馈）以及来自前置摄像头的观察图像（分辨率为480x640像素，3通道彩色视频，采用AV1编码）。此外，数据集还包含元数据，如时间戳、帧索引、episode索引、索引和任务索引。总大小为300MB（其中数据文件100MB，视频文件200MB），支持训练分割，机器人类型为so_follower，数据以Parquet格式存储并分块处理以优化访问效率。
This dataset, developed using the LeRobot toolkit, is a video dataset focused on robot control tasks for training and evaluating robotic behaviors. It contains a single episode with a total of 1232 frames, recorded at 30 frames per second (fps). The dataset includes three core data modalities: action data, represented by 6 floating-point numbers covering the positions of the robot's shoulder, elbow, wrist, and gripper; observation state data, which matches the action data and provides real-time feedback on the robot's current state; and observation images captured by the front-facing camera, which are 3-channel color video with a resolution of 480x640 pixels and encoded using the AV1 codec. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The total size of the dataset is 300 MB, with 100 MB allocated to data files and 200 MB to video files. It supports training splits, is tailored for the so_follower robot platform, and stores data in Parquet format with chunked processing to optimize access efficiency.
数据集概述
数据集名称: Lerobot_training_20260721_181406
来源: Hugging Face Datasets
地址: https://huggingface.co/datasets/Har9/Lerobot_training_20260721_181406
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集结构
| 属性 | 值 |
|---|---|
| 代码库版本 | v3.0 |
| 帧率 (FPS) | 30 |
| 总片段数 (Episodes) | 1 |
| 总帧数 | 1232 |
| 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 |
| 机器人类型 | so_follower |
| 数据分割 | 训练集: 全部 (索引 0:1) |
数据特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含6个关节的动作指令（如 shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
| observation.state | float32 | [6] | 机器人6个关节的状态观测 |
| observation.images.front | 视频 | [480, 640, 3] | 前置摄像头图像，分辨率480x640，RGB三通道，AV1编码，30 FPS |
| 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
使用说明
该数据集通过 LeRobot 创建，可使用 LeRobot 的可视化工具进行查看：可视化链接（需注意，该链接为普通文本，无需访问）。
