rq4-push-four-objects-200-hsv-sam-half-seed42-normalized
收藏资源简介：
该数据集由LeRobot创建，专用于机器人技术任务，特别是针对so_follower机器人类型。数据集包含200个episodes，总计43810帧，帧率为30fps。数据以parquet文件格式存储，视频以mp4格式存储。数据集仅包含训练集（划分：train: 0:200）。特征包括：动作（action），为6维浮点数组，代表机器人关节位置（如shoulder_pan.pos等）；观测状态（observation.state），同样为6维浮点数组，表示关节位置；两个图像观测（observation.images.eagle和observation.images.side），均为视频格式，分辨率240x320，3通道，编码为av1；以及时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集总数据文件大小为100MB，视频文件大小为200MB。
This dataset is created by LeRobot for robotics tasks, specifically for the so_follower robot type. It contains 200 episodes, totaling 43810 frames with a frame rate of 30fps. The data is stored in parquet file format, and videos are stored in mp4 format. The dataset only includes the training set (splits: train: 0:200). Features include: action, a 6-dimensional floating-point array representing robot joint positions (e.g., shoulder_pan.pos, etc.); observation.state, also a 6-dimensional floating-point array indicating joint positions; two image observations (observation.images.eagle and observation.images.side), both in video format with a resolution of 240x320, 3 channels, encoded as av1; as well as metadata such as timestamps, frame index, episode index, index, and task index. The total data file size is 100MB, and the video file size is 200MB.
数据集概述
- 数据集名称: rq4-push-four-objects-200-hsv-sam-half-seed42-normalized
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 总片段数: 200
- 总帧数: 43810
- 总任务数: 1
- 分块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 fps
- 数据划分: 训练集 (0-200)
数据特征
- 动作 (action): 包含6维浮点数，对应机器人关节位置（shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos）
- 观测状态 (observation.state): 与动作特征相同，6维浮点数
- 观测图像:
- eagle 视角: 视频数据，分辨率240x320，3通道，AV1编码，30 fps
- side 视角: 视频数据，分辨率240x320，3通道，AV1编码，30 fps
- 时间戳 (timestamp): 浮点数，形状 [1]
- 帧索引 (frame_index): 整数，形状 [1]
- 片段索引 (episode_index): 整数，形状 [1]
- 索引 (index): 整数，形状 [1]
- 任务索引 (task_index): 整数，形状 [1]
数据文件路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 论文: 暂无
- 主页: 暂无
- BibTeX: 暂无
