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observation.state
list
action
list
observation.images.camera_0
imagewidth (px)
640
640
observation.images.camera_1
imagewidth (px)
640
640
timestamp
float32
0
18.9
frame_index
int64
0
189
episode_index
int64
0
46
index
int64
0
7.51k
task_index
int64
0
0
[ -0.03326193988323212, -0.7549682855606079, 0.03369826078414917, -2.2423598766326904, -0.003410876262933016, 1.611739158630371, 0.7951465249061584, -0.0131053626537323 ]
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0
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0.1
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0.2
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0.3
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0.4
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0.6
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0.7
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0.8
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0.9
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0
9
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1
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1.1
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1.2
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1.3
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13
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1.4
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14
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1.5
15
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15
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1.6
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16
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1.7
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1.8
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18
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
28
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
36
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3.7
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3.8
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3.9
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4
40
0
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4.1
41
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4.2
42
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4.3
43
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4.4
44
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
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0
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8.8
88
0
88
0
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8.9
89
0
89
0
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9
90
0
90
0
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[ -0.00470235850661993, -0.0005976345855742693, 0.0021121567115187645, 0.0024182035122066736, -0.0017892622854560614, 0.002481458941474557, 1 ]
9.1
91
0
91
0
[ 0.05867132917046547, -0.2741675078868866, 0.23834551870822906, -2.601804494857788, -0.07366982847452164, 2.3758113384246826, 1.1533976793289185, 0.9991955757141113 ]
[ -0.004045235458761454, -0.00019899648032151163, 0.0038563029374927282, 0.0037581606302410364, -0.0033763479441404343, 0.0030876246746629477, 1 ]
9.2
92
0
92
0
[ 0.060483429580926895, -0.2790074944496155, 0.23691588640213013, -2.60550856590271, -0.07278915494680405, 2.375772476196289, 1.1529566049575806, 0.9991955757141113 ]
[ -0.006459871772676706, 0.0007914397865533829, 0.00894076656550169, 0.00517618004232645, -0.01059911772608757, 0.005948425270617008, 1 ]
9.3
93
0
93
0
[ 0.06422394514083862, -0.2872135639190674, 0.2344234138727188, -2.6115901470184326, -0.0706314891576767, 2.3756511211395264, 1.151066541671753, 0.9991955757141113 ]
[ -0.0011962928110733628, 0.0023483482655137777, 0.009289228357374668, 0.0028432703111320734, -0.006360612343996763, 0.0032505420967936516, 1 ]
9.4
94
0
94
0
[ 0.06946471333503723, -0.2986842691898346, 0.23181577026844025, -2.618973970413208, -0.06749498844146729, 2.3739383220672607, 1.1480271816253662, 0.9991955757141113 ]
[ -0.008524647913873196, 0.0009295870549976826, 0.008805728517472744, 0.0019652671180665493, -0.009305087849497795, 0.0051703485660254955, 1 ]
9.5
95
0
95
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[ 0.07567637413740158, -0.31459733843803406, 0.2307828813791275, -2.6255619525909424, -0.06261368840932846, 2.369320869445801, 1.1452655792236328, 0.9999261498451233 ]
[ -0.005752895958721638, 0.0014995455276221037, 0.008586491458117962, 0.0022782364394515753, -0.005803254898637533, 0.00399803975597024, 1 ]
9.6
96
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96
0
[ 0.08283545821905136, -0.33604487776756287, 0.23013947904109955, -2.632915735244751, -0.05344526469707489, 2.3603971004486084, 1.1408697366714478, 0.9999261498451233 ]
[ -0.005675239954143763, 0.0011824850225821137, 0.009045494720339775, 0.002875267993658781, -0.00648873345926404, 0.0029319769237190485, 1 ]
9.7
97
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97
0
[ 0.09126301854848862, -0.36242127418518066, 0.23013336956501007, -2.639052391052246, -0.04391900449991226, 2.345691204071045, 1.1359583139419556, 0.9999261498451233 ]
[ -0.006849823985248804, 0.0011985813034698367, 0.012212022207677364, 0.003475767094641924, -0.0069283065386116505, 0.004519043955951929, 1 ]
9.8
98
0
98
0
[ 0.10046406090259552, -0.3943142592906952, 0.23006583750247955, -2.6435675621032715, -0.03270222246646881, 2.323923110961914, 1.13144850730896, 0.9999261498451233 ]
[ -0.0055771335028111935, 0.0009135053842328489, 0.010095127858221531, 0.003915761131793261, -0.006518994923681021, 0.00334469648078084, 1 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

Steer Test LeRobot Dataset

这是一个用于机器人操作任务的 LeRobot 格式数据集。

数据集描述

  • 总集数: 199
  • 总帧数: 32,511
  • 任务数: 4
  • 帧率: 10 FPS
  • 机器人: 7自由度机械臂 + 夹爪

数据格式

数据集采用 LeRobot v2.1 格式,包含以下特征:

观测数据

  • observation.state: 8维关节状态 (joint1-joint7 + gripper)
  • observation.images.camera_0: 480x640x3 RGB图像
  • observation.images.camera_1: 480x640x3 RGB图像

动作数据

  • action: 7维动作 (dx, dy, dz, dqx, dqy, dqz, gripper)

元数据

  • timestamp: 时间戳
  • frame_index: 帧索引
  • episode_index: 集索引
  • task_index: 任务索引

使用方法

from datasets import load_dataset

# 加载数据集
dataset = load_dataset("your-username/steer_test_lerobot")

# 访问训练集
train_data = dataset["train"]

# 查看单个样本
sample = train_data[0]
print(f"观测状态形状: {sample['observation']['state'].shape}")
print(f"动作形状: {sample['action'].shape}")
print(f"图像形状: {sample['observation']['images']['camera_0'].shape}")

数据集统计

  • 训练集: 199个episodes (0:199)
  • 数据分块: 1个chunk,每chunk最多1000个episodes
  • 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet

引用

如果您使用了此数据集,请引用:

@dataset{steer_test_lerobot,
  title={Steer Test LeRobot Dataset},
  author={Your Name},
  year={2024},
  url={https://huggingface.co/datasets/your-username/steer_test_lerobot}
}
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