eval_pi05-so101-4tasks-aug_sort_40
收藏资源简介：
该数据集是由LeRobot创建的机器人数据集，专为机器人任务设计。它包含5个完整集，总计15998帧，帧率为30fps。数据以Parquet格式存储，视频以MP4格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集采用Apache-2.0许可证。结构上包括动作和观测状态，均为6维浮点数组，表示机器人关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；图像观测包括基础摄像头和左腕摄像头的RGB视频，分辨率为480x640，3通道，视频编码为av1。此外，还包含时间戳、帧索引、集数索引、索引和任务索引等元数据。数据集用于单任务训练，分割为训练集（集0到4）。
This dataset is a robot dataset created using LeRobot, specifically designed for robot tasks. It contains 5 complete episodes, totaling 15,998 frames at a frame rate of 30fps. The data is stored in Parquet format, and videos are stored in MP4 format, with a total data file size of 100MB and video file size of 200MB. The dataset uses the Apache-2.0 license. Its structure includes actions and observation states, both of which are 6-dimensional floating-point arrays representing robot joint positions (such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position); image observations include RGB videos from the base camera and left wrist camera, with a resolution of 480x640, 3 channels, and video encoding as av1. Additionally, it contains metadata such as timestamps, frame index, episode index, index, and task index. The dataset is intended for single-task training and is split into a training set (episodes 0 to 4).
数据集概述
- 数据集名称:
hjkso1406/eval_pi05-so101-4tasks-aug_sort_40 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: 使用 LeRobot 创建
数据集结构
- 机器人类型: so_follower
- 总片段数 (Episodes): 5
- 总帧数 (Frames): 15998
- 总任务数: 1
- 块大小 (Chunks Size): 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
- 训练集 (Train): 数据索引 0 到 5（即全部 5 个片段）
数据路径
- 数据文件路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含 6 个关节位置：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪 |
observation.state |
float32 | [6] | 机器人状态观测，与动作维度一致（6 个关节位置） |
observation.images.base_0_rgb |
video | [480, 640, 3] | 基座相机 RGB 视频，分辨率 480×640，编码 AV1，帧率 30 |
observation.images.left_wrist_0_rgb |
video | [480, 640, 3] | 左腕相机 RGB 视频，分辨率 480×640，编码 AV1，帧率 30 |
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 |
