record-test-40_20260613_124917

这是一个机器人学数据集，基于LeRobot框架构建。数据集包含10个episodes，总计4491帧，帧率为30fps。特征包括动作（6维浮点数组，对应肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕滚动和夹持器位置）、观测状态（与动作相同的6维关节位置）、顶部摄像头图像观测（视频格式，分辨率480x640，3通道，H.264编码），以及时间戳、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，数据分割为训练集（覆盖所有episodes）。数据集总大小约为300MB（其中数据文件100MB，视频文件200MB），存储为Parquet格式。This is a robotics dataset built upon the LeRobot framework. The dataset comprises 10 episodes, totaling 4491 frames with a frame rate of 30 fps. Its features include actions (6-dimensional floating-point arrays corresponding to shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position), observation states (6-dimensional joint positions matching the action dimensions), top camera image observations (in video format, 480x640 resolution, 3-channel, H.264 encoded), as well as metadata such as timestamps, frame indices, episode indices, sample indices, and task indices. The robot type is so_follower, and the dataset is split into a training set covering all episodes. The total size of the dataset is approximately 300 MB, consisting of 100 MB of data files and 200 MB of video files, stored in Parquet format.

原始信息汇总

数据集概述

• 名称: record-test-40_20260613_124917
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: LeRobot

数据集结构

• 代码版本: v3.0
• 帧率: 30 FPS
• 总集数: 10
• 总帧数: 4491
• 总任务数: 1
• 分块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower
• 数据划分: 全部 10 个 episodes 用于训练

特征配置

特征名	数据类型	形状	描述
action	float32	[6]	关节动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	关节状态（同动作空间）
observation.images.top	video	[480, 640, 3]	顶部相机 RGB 视频，h264 编码，yuv420p 像素格式，30 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

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

• BibTeX: 待补充