tablewares_sort_ik10
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专门用于机器人任务。数据集包含15个episodes，总计53424帧，帧率为30fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为“openarm_follower”，数据集仅包含一个任务。特征包括动作和状态向量，均为8维浮点数组，分别对应7个关节位置和1个夹爪位置。观测部分包括来自前方和手腕摄像头的视频数据，每个视频分辨率为720x1280，3通道（RGB），使用av1编解码器。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。所有数据仅用于训练集（splits为train:0:15）。
This dataset is a robotics dataset created using LeRobot, specifically designed for robot tasks. It contains 15 episodes, totaling 53,424 frames with a frame rate of 30 fps. The data is stored in parquet format, with a total data file size of 100 MB and a video file size of 200 MB. The robot type is openarm_follower, and the dataset includes only one task. Features include action and state vectors, both as 8-dimensional floating-point arrays corresponding to 7 joint positions and 1 gripper position. Observations include video data from front and wrist cameras, each with a resolution of 720x1280, 3 channels (RGB), using the av1 codec. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, indices, and task indices. All data is exclusively for the training set (splits: train:0:15).
数据集概述
- 数据集名称: tablewares_sort_ik10
- 许可协议: Apache-2.0
- 任务类别: 机器人技术 (Robotics)
- 标签: LeRobot
数据集结构
- 机器人类型: openarm_follower
- 总片段数 (Episodes): 15
- 总帧数 (Frames): 53424
- 总任务数: 1
- 分块大小 (Chunks Size): 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 数据分割: 训练集包含所有15个片段 (train: "0:15")
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (8,) | 关节1-7位置及夹爪位置 (joint_1.pos 至 joint_7.pos, gripper.pos) |
| observation.state | float32 | (8,) | 观测状态，与action结构相同 (关节1-7位置及夹爪位置) |
| observation.images.front | video | (720, 1280, 3) | 前视摄像头视频，分辨率720x1280，AV1编码，30fps，3通道 |
| observation.images.wrist | video | (720, 1280, 3) | 腕部摄像头视频，分辨率720x1280，AV1编码，30fps，3通道 |
| 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
- 引用格式: 暂无提供。
