eval_bin_transfer_r2l_last
收藏资源简介：
该数据集使用LeRobot创建，是一个机器人学数据集，专注于机器人控制任务。数据集包含机器人的动作和观测数据，动作由6个浮点数表示，对应机器人关节（如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪）的位置。观测数据包括相同的关节位置状态，以及来自三个摄像头的图像数据：左上、右上和手腕摄像头，每个图像分辨率为480x640像素，3个颜色通道。数据集还包含时间戳、帧索引、片段索引和任务索引等元数据。机器人类型为so_follower，数据以parquet文件格式组织，帧率为30fps。
This dataset is created using LeRobot and is a robotics dataset focused on robot control tasks. It includes robot action and observation data, where actions are represented by 6 floating-point numbers corresponding to the positions of robot joints (such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper). Observation data includes the same joint position states, as well as image data from three cameras: top-left, top-right, and wrist cameras, each with a resolution of 480x640 pixels and 3 color channels. The dataset also contains metadata such as timestamps, frame indices, segment indices, and task indices. The robot type is so_follower, and the data is organized in parquet file format with a frame rate of 30fps.
数据集概述：eval_bin_transfer_r2l_last
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 数据集版本: 基于 LeRobot (v3.0) 创建
数据集结构
- 机器人类型:
so_follower - 总片段数: 0
- 总帧数: 0
- 总任务数: 0
- 帧率: 30 FPS
- 数据块大小: 每块1000帧
- 数据文件大小: 约100 MB
- 视频文件大小: 约200 MB
- 数据格式: Parquet (数据) + MP4 (视频)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人6自由度动作指令 (肩、肘、腕、夹爪) |
observation.state |
float32 | [6] | 机器人状态观测 (与动作维度对应) |
observation.images.top_left |
video | [480, 640, 3] | 左上摄像头视频 (高x宽x通道) |
observation.images.top_right |
video | [480, 640, 3] | 右上摄像头视频 |
observation.images.wrist |
video | [480, 640, 3] | 腕部摄像头视频 |
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 |
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
可视化
可通过 LeRobot 可视化工具查看数据集：
https://huggingface.co/spaces/lerobot/visualize_dataset?path=polarisai-robots/eval_bin_transfer_r2l_last
