train_v1_BRG_20260718_165020

该数据集由LeRobot创建，用于机器人技术领域，包含机器人执行任务时的动作和观察数据。数据特征包括6个浮点型动作（如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）和相应的观察状态。观察数据包括两个视角的图像（前视和顶视），分辨率为480x640，3通道，以30fps的视频格式存储。此外，数据集还包含时间戳、帧索引、回合索引、索引和任务索引等元数据。数据集总共有20个回合、12205帧和1个任务，数据文件大小为100MB，视频文件大小为200MB，机器人类型为so_follower。数据以Parquet和MP4格式存储，适用于机器人学习和控制任务。This dataset was developed by LeRobot for the field of robotics, encompassing action and observation data collected during robotic task execution. The data features include 6 floating-point action dimensions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position, alongside corresponding observation states. The observation data consists of images from two viewpoints (front view and top view), with a resolution of 480×640, 3 channels, stored in 30fps video format. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, entry indices, and task indices. In total, the dataset comprises 20 episodes, 12205 frames, and 1 single task, with a data file size of 100 MB and a video file size of 200 MB. The target robot platform is so_follower. The dataset is stored in Parquet and MP4 formats, and is applicable to robotic learning and control tasks.

原始信息汇总

数据集概述

• 名称: train_v1_BRG_20260718_165020
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 数据格式: Parquet (动作、状态、时间戳、索引等) + MP4 视频 (观测图像)
• 数据路径: data/*/*.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据集特征

特征	数据类型	形状	说明
action	float32	[6]	6维动作：肩部旋转、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置
observation.state	float32	[6]	6维状态（与动作维度相同）
observation.images.front	video	[480, 640, 3]	前视摄像头图像，AV1编码，30 FPS
observation.images.top	video	[480, 640, 3]	顶部摄像头图像，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]	全局索引
task_index	int64	[1]	任务索引

数据统计

• 总片段数: 20
• 总帧数: 12205
• 总任务数: 1
• FPS: 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 分块大小: 1000
• 机器人类型: so_follower
• 数据集划分: 训练集 (20个片段全部用于训练)