Datasets:
Search is not available for this dataset
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
|
|---|---|---|---|---|---|---|---|---|
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] | 7.3
| 73
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| 73
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[
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| 74
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| 74
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[
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| 76
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| 77
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| 78
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| 78
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| 79
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[
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| 81
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| 85
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[
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|
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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