sock_2_only_more_orange
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot创建，专注于机器人任务执行。它包含145个episodes和49791个frames，以30fps记录。特征包括6维浮点动作（如肩部平移、提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）和6维状态观测（与动作相同维度）。观测图像包括前置摄像头和腕部摄像头视频，分辨率为480x640，3通道，使用av1编码。数据集还包括时间戳、帧索引、episode索引等元数据。机器人类型为so_follower，数据以parquet和mp4格式存储，总数据大小约100MB，视频大小约200MB。数据集用于训练和评估机器人学习模型，支持分割为训练集。
This dataset is a robot operation dataset created using LeRobot, focusing on robot task execution. It contains 145 episodes and 49791 frames, recorded at 30fps. Features include 6-dimensional floating-point actions (such as shoulder translation, lift, elbow bend, wrist bend, wrist roll, and gripper position) and 6-dimensional state observations (with the same dimensions as the actions). Observation images include front camera and wrist camera videos, with a resolution of 480x640, 3 channels, encoded in av1. The dataset also includes metadata such as timestamps, frame indices, and episode indices. The robot type is so_follower, and the data is stored in parquet and mp4 formats, with a total data size of approximately 100MB and a video size of about 200MB. The dataset is used for training and evaluating robot learning models and supports splitting into a training set.
数据集概述
- 数据集名称: sock_2_only_more_orange
- 数据所有者: makermods
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, makermods, openbooth, MakerLab
- 创建工具: 使用 LeRobot 创建
- 机器人类型: so_follower
数据集结构
- 总片段数 (episodes): 145
- 总帧数 (frames): 49,791
- 总任务数: 1
- 帧率: 30 FPS
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据路径格式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径格式:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据集划分: 训练集 (0:145)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | [6] | 观测状态：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.images.front | video | [480, 640, 3] | 前方摄像头视频 (AV1编码, 30 FPS) |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频 (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] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
可视化
- 可视化工具: 可视化该数据集
