eval_put_carrot_into_drawer-pi2-030k-test
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专注于机器人学习任务。它包含10个episodes，总计5451帧，涉及1个任务。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集的特征包括：动作数据（6维浮点数，表示肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（6维浮点数，表示关节位置）、前部和腕部图像观测（视频格式，分辨率480x640，3通道，编码为av1，无音频），以及补充信息如策略动作、干预状态、状态变量、收集器策略ID、时间戳、帧索引、episode索引、索引和任务索引。该数据集适用于机器人控制、模仿学习或强化学习研究，提供多模态观测和动作数据。
This dataset is a robot dataset created using LeRobot, focusing on robot learning tasks. It contains 10 episodes, totaling 5451 frames, and involves 1 task. The data is stored in parquet file format, with a total data file size of 100MB, video file size of 200MB, and a frame rate of 30fps. The features of the dataset include: action data (6-dimensional floating-point numbers, representing shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), observation state (6-dimensional floating-point numbers, representing joint positions), front and wrist image observations (video format, resolution 480x640, 3 channels, encoded as av1, no audio), and supplementary information such as policy actions, intervention status, state variables, collector policy ID, timestamp, frame index, episode index, index, and task index. The dataset is suitable for robot control, imitation learning, or reinforcement learning research, providing multimodal observations and action data.
数据集概述
- 数据集名称: eval_put_carrot_into_drawer-pi2-030k-test
- 任务类型: 机器人学（Robotics）
- 标签: LeRobot
- 许可证: Apache-2.0
- 机器人类型: so_follower
- 总片段数: 10
- 总帧数: 5451
- 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
数据划分
- 训练集: 全部10个片段（索引0:9）
数据结构
特征配置
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 包含6个关节动作: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 观测状态，与动作字段相同的6个关节位置 |
| observation.images.front | 视频 | [480, 640, 3] | 前部摄像头图像，分辨率480x640，3通道，编码AV1，30 FPS |
| observation.images.wrist | 视频 | [480, 640, 3] | 腕部摄像头图像，分辨率480x640，3通道，编码AV1，30 FPS |
| complementary_info.policy_action | float32 | [6] | 采集策略的动作信息 |
| complementary_info.is_intervention | float32 | [1] | 是否为干预操作 |
| complementary_info.state | float32 | [1] | 机器人状态信息 |
| complementary_info.collector_policy_id | string | [1] | 采集策略的标识符 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
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
当前数据集页面未提供BibTeX引用信息。
