super_poulain_interjections
收藏资源简介：
该数据集是一个使用LeRobot工具创建的机器人控制数据集，专门针对omx_follower型机器人。它包含50个训练episodes，总计32650帧数据，帧率为30fps。数据以parquet文件格式存储，视频以mp4格式存储。特征包括动作（6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、状态观测（与动作相同的6个关节位置）、图像观测（前部摄像头和腕部摄像头，均为480x640分辨率、3通道彩色视频），以及时间戳、帧索引、episode索引等元数据。该数据集适用于机器人学习和控制任务。
This dataset is a robot control dataset created using the LeRobot tool, specifically designed for omx_follower-type robots. It contains 50 training episodes, totaling 32,650 frames of data with a frame rate of 30fps. The data is stored in parquet file format, and videos are stored in mp4 format. Features include actions (6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), state observations (the same 6 joint positions as actions), image observations (front camera and wrist camera, both with 480x640 resolution and 3-channel color video), as well as metadata such as timestamps, frame indices, and episode indices. This dataset is suitable for robot learning and control tasks.
数据集概述
- 名称: super_poulain_interjections
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 机器人类型: omx_follower
- 总片段数: 50
- 总帧数: 32650
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 数据划分: 全部 (0:50) 用于训练
特征
| 特征字段 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 包含 shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos 共6个维度 |
| observation.state | float32 | (6,) | 与 action 相同的6维状态信息 |
| observation.images.front | video | (480, 640, 3) | 前置摄像头视频，分辨率480x640，3通道，AV1编码，30 FPS |
| observation.images.wrist | video | (480, 640, 3) | 腕部摄像头视频，分辨率480x640，3通道，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 |
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
- BibTeX: [需要更多信息]
