jul19_setup

该数据集是使用LeRobot创建的机器人数据集，专门针对so_follower机器人类型。数据集包含机器人的动作和观察数据：动作包括6个自由度（肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置）；观察数据包括机器人状态（与动作相同的6个维度），以及来自手腕和场景摄像头的图像观察（手腕图像分辨率为360x640x3，场景图像分辨率为480x640x3）。此外，数据集还包含时间戳、帧索引、剧集索引、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，帧率为30fps。数据集结构支持分块处理，每个块包含1000个数据点，总数据文件大小为100MB，视频文件大小为200MB。该数据集适用于机器人学习任务，如模仿学习或强化学习。This dataset is a robotics dataset created using LeRobot, specifically for the so_follower robot type. It includes robot action and observation data: actions consist of 6 degrees of freedom (shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper position); observations include robot state (the same 6 dimensions as actions) and image observations from wrist and scene cameras (wrist image resolution is 360x640x3, scene image resolution is 480x640x3). Additionally, the dataset contains metadata such as timestamps, frame index, episode index, index, and task index. Data is stored in parquet file format, with video files in mp4 format at 30fps frame rate. The dataset structure supports chunked processing, with each chunk containing 1000 data points, total data file size is 100MB, and video file size is 200MB. This dataset is suitable for robotics learning tasks, such as imitation learning or reinforcement learning.

原始信息汇总

数据集概述

• 数据集名称: jul19_setup
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: LeRobot

数据集详情

基本信息

• 机器人类型: so_follower
• 总片段数 (Episodes): 20
• 总帧数 (Frames): 11,830
• 总任务数 (Tasks): 1
• 帧率 (FPS): 30
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

数据划分

• 训练集: 片段索引 0 到 19 (共 20 个片段)

数据结构

• 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
• 分块大小 (Chunk Size): 1000 帧

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	(6,)	6个关节的动作位置指令 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
observation.state	float32	(6,)	6个关节的观测状态 (与action相同)
observation.images.wrist	video	(480, 640, 3)	腕部摄像头视频 (AV1编码, 30 FPS)
observation.images.scene	video	(360, 640, 3)	场景摄像头视频 (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