testingeverything99_20260609_131628

该数据集是一个机器人数据集，使用LeRobot工具创建，专为机器人学习和控制任务设计。数据集包含5个episodes，总计8901帧数据，帧率为30fps。数据特征包括机器人的动作（action）和观察（observation），其中动作由6个关节位置（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）组成，观察包括机器人状态（同样为6个关节位置）以及来自多个视角的图像视频数据：手腕、右侧、左侧、中间和上方视角，每个视频的分辨率为480x640，3通道，编码为av1格式。数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。机器人类型为so_follower，数据以Parquet文件存储，视频以MP4文件存储，总数据大小约为100MB，视频大小约为200MB。数据集用于训练和验证机器人控制模型，适用于robotics任务。

This is a robotics dataset developed with the LeRobot toolkit, tailored for robot learning and control tasks. The dataset contains 5 episodes, totaling 8901 frames with a frame rate of 30 fps. The data features include robot actions and observations: the action is composed of 6 joint positions (e.g., shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), while the observations cover robot states (also 6 joint positions) and image video data from five perspectives: wrist, right, left, center, and top views. Each video has a resolution of 480x640, 3 channels, and is encoded in the av1 format. Additional metadata includes timestamps, frame indices, episode indices, task indices, and more. The robot type for this dataset is so_follower. The structured dataset files are stored in Parquet format, while the video files are stored in MP4 format. The total size of the dataset is approximately 100 MB, and the video data accounts for around 200 MB. This dataset is designed for training and validating robot control models, and is suitable for robotics-related tasks.

原始信息汇总

数据集概述

• 数据集名称: testingeverything99_20260609_131628
• 创建者: mattpidden
• 许可证: Apache-2.0
• 任务类型: 机器人学（Robotics）
• 标签: LeRobot

数据集结构

• 代码库版本: v3.0
• 帧率 (FPS): 30
• 总片段数: 5
• 总帧数: 8901
• 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

数据划分

• 训练集: 共5个片段（索引0至4）

特征描述

特征名称	数据类型	形状	描述
action	float32	[6]	6维动作指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	6维观测状态：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.wrist	video (AV1, yuv420p)	[480, 640, 3]	腕部摄像头 RGB 视频，帧率30 FPS
observation.images.right	video (AV1, yuv420p)	[480, 640, 3]	右侧摄像头 RGB 视频，帧率30 FPS
observation.images.left	video (AV1, yuv420p)	[480, 640, 3]	左侧摄像头 RGB 视频，帧率30 FPS
observation.images.middle	video (AV1, yuv420p)	[480, 640, 3]	中间摄像头 RGB 视频，帧率30 FPS
observation.images.above	video (AV1, yuv420p)	[480, 640, 3]	上方摄像头 RGB 视频，帧率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]	全局索引
task_index	int64	[1]	任务索引

数据存储路径

• 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

创建工具

该数据集使用 LeRobot 创建。