omy_f3m_WoensdagPickPlace1340

该数据集是一个用于机器人学习的专业数据集，专注于拾取和放置任务，基于LeRobot框架构建。数据集包含49个完整的情节，总计30967帧，帧率为30fps。机器人类型为omy_f3m（可能是一种特定机器人模型），任务涉及操作GreenSquare和RedBox对象。数据集中提供了多源观察数据：包括来自手腕摄像头（分辨率为270x480，3通道）和顶部摄像头（分辨率为480x640，3通道）的视频观察，以及机器人的状态观察（如关节位置）和动作数据（如控制命令）。所有数据以parquet格式存储，并划分为训练集（涵盖所有情节）。该数据集适用于机器人控制、计算机视觉和强化学习等领域的研究和应用。This dataset is a professional dataset for robot learning, focusing on pick-and-place tasks and built using the LeRobot framework. It contains 49 complete episodes, totaling 30,967 frames at a frame rate of 30fps. The robot type is omy_f3m (likely a specific robot model), and the tasks involve manipulating GreenSquare and RedBox objects. The dataset provides multi-source observation data: video observations from a wrist camera (resolution 270x480, 3 channels) and a top camera (resolution 480x640, 3 channels), as well as robot state observations (e.g., joint positions) and action data (e.g., control commands). All data is stored in parquet format and divided into a training set (covering all episodes). This dataset is suitable for research and applications in areas such as robot control, computer vision, and reinforcement learning.

原始信息汇总

数据集总览

• 数据集名称: omy_f3m_WoensdagPickPlace1340
• 许可协议: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot, omy_f3m, robotis, pick, place, GreenSquare, RedBox

数据集结构

• 机器人类型: omy_f3m
• 总片段数 (Total Episodes): 49
• 总帧数 (Total Frames): 30,967
• 总任务数 (Total Tasks): 1
• 总视频数 (Total Videos): 98
• 总数据块数 (Total Chunks): 1
• 数据块大小 (Chunks Size): 1,000
• 帧率 (FPS): 30
• 数据集划分: 训练集 (Episodes 0:48)

数据特征

特征名称	数据类型	形状	说明
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	数据索引
task_index	int64	[1]	任务索引
observation.images.cam_wrist	video	[270, 480, 3]	腕部摄像头图像 (H.264编码, 270x480像素)
observation.images.cam_top	video	[480, 640, 3]	顶部摄像头图像 (H.264编码, 480x640像素)
observation.state	float32	[7]	机器人关节状态 (joint1~joint6, rh_r1_joint)
action	float32	[7]	机器人动作 (joint1~joint6, rh_r1_joint)

数据路径

• 数据文件: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频文件: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

任务描述

该数据集包含机器人执行“拾取与放置 (pick and place)”任务的演示数据，涉及物体包括绿色方块 (GreenSquare) 和红色盒子 (RedBox)。数据集采用 LeRobot 格式构建。