record-test-32_20260613_120319
收藏资源简介：
该数据集是一个使用LeRobot创建的机器人学数据集，专门用于机器人控制和学习任务。它包含10个回合，总计4490帧，帧率为30fps。特征包括：动作数据（由6个浮点值表示，对应机器人关节位置，如肩部平移、肩部抬升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）；状态观测（与动作相同的6个关节位置）；图像观测（来自顶部摄像头的视频数据，分辨率为480x640，3通道，编码为h264，非深度图）；以及时间戳、帧索引、回合索引、索引和任务索引等元数据。数据以parquet文件格式存储，视频文件以mp4格式存储，总数据大小约为100MB，视频大小约为200MB。机器人类型为“so_follower”，适用于训练和评估机器人控制算法。
This dataset is a robotics dataset created using LeRobot, specifically designed for robotics control and learning tasks. It contains 10 episodes, totaling 4490 frames with a frame rate of 30 fps. Its features include: action data represented by 6 floating-point values corresponding to robot joint positions, namely shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position; state observations, which are the same 6 joint position values as the action data; image observations, which are video data from the top camera, with a resolution of 480x640, 3-channel, encoded in H.264, and non-depth maps; as well as metadata such as timestamps, frame index, episode index, sample index, and task index. The data is stored in Parquet file format, while the video files are stored in MP4 format. The total size of the data is approximately 100 MB, and the total size of the video files is around 200 MB. The robot type for this dataset is "so_follower", and it is suitable for training and evaluating robotics control algorithms.
数据集概述
- 数据集名称:
record-test-32_20260613_120319 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 数据格式: 使用 LeRobot 库创建，包含 Parquet 文件和 MP4 视频文件。
- 总片段数 (Episodes): 10
- 总帧数 (Frames): 4490
- 总任务数 (Tasks): 1
- 帧率 (FPS): 30
- 机器人类型:
so_follower - 数据分片: 训练集 (train) 覆盖所有片段 (
0:10)
特征 (Features)
| 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,) | 机器人观测状态：与动作相同的6个维度 |
observation.images.top |
video (h264) | (480, 640, 3) | 顶部摄像头图像，分辨率480x640，RGB三通道，30fps |
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
- 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 - 数据文件大小: 约100 MB
- 视频文件大小: 约200 MB
- 分块大小: 1000 帧/块
引用信息
当前缺少引用信息（BibTeX 待补充）。
