greenball_pool_225_v1_trimmed
收藏资源简介：
这是一个由LeRobot创建的机器人仿真或真实操作数据集。数据集包含225个episodes，总共95,940帧（30 fps），由so_follower机器人执行单一任务。每个episode记录有6维关节动作（shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper位置）和对应的状态观测，同时提供来自前置摄像头和腕部摄像头的两个视角视频（分辨率为640x480，AV1编码）。数据集遵循Apache-2.0许可证，所有数据均可用于训练。
This is a robot simulation or real operation dataset created by LeRobot. The dataset contains 225 episodes with a total of 95,940 frames (30 fps), executed by the so_follower robot performing a single task. Each episode records 6-dimensional joint actions (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper position) and corresponding state observations, along with two-view videos from the front camera and wrist camera (resolution 640x480, AV1 encoding). The dataset is licensed under Apache-2.0, and all data can be used for training.
数据集概述
基本信息
- 数据集名称：greenball_pool_225_v1_trimmed
- 数据集地址：https://huggingface.co/datasets/fysical/greenball_pool_225_v1_trimmed
- License：apache-2.0
- 任务类别：robotics
- 标签：LeRobot
- 创建工具：LeRobot
- 可视化地址：https://huggingface.co/spaces/lerobot/visualize_dataset?path=fysical/greenball_pool_225_v1_trimmed
- Homepage：More Information Needed
- Paper：More Information Needed
- Citation：More Information Needed
数据集结构
配置
- config_name：default
- data_files：data//.parquet
元信息（meta/info.json）
- codebase_version：v3.0
- fps：30
- robot_type：so_follower
- total_episodes：225
- total_frames：95940
- total_tasks：1
- chunks_size：1000
- data_files_size_in_mb：100
- video_files_size_in_mb：200
- data_path：data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
- video_path：videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
- splits：train: 0:225
特征（features）
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 名称：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 名称：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.images.front | video | [480, 640, 3] | 名称：height, width, channels |
| observation.images.wrist | video | [480, 640, 3] | 名称：height, width, channels |
| timestamp | float32 | [1] | names: null |
| frame_index | int64 | [1] | names: null |
| episode_index | int64 | [1] | names: null |
| index | int64 | [1] | names: null |
| task_index | int64 | [1] | names: null |
视频特征详情（observation.images.front 与 observation.images.wrist 相同）
- is_depth_map：false
- video.height：480
- video.width：640
- video.codec：av1
- video.pix_fmt：yuv420p
- video.fps：30
- video.channels：3
- has_audio：false
- video.g：2
- video.crf：30
- video.preset：12
- video.fast_decode：0
- video.video_backend：pyav
- video.extra_options：{}
