100episodesDonderdag1
收藏资源简介：
该数据集是一个机器人数据集，使用Physical AI Tools和LeRobot工具创建，专门针对omy_f3m机器人类型。数据集包含99个episodes，总计46759帧，帧率为30fps，所有数据均用于训练。数据以parquet格式存储，并附带mp4格式的视频文件。数据集结构丰富，包括时间戳、帧索引、episode索引等元数据，以及观测特征和动作特征：观测特征包括来自手腕摄像头（分辨率270x480，3通道）和顶部摄像头（分辨率480x640，3通道）的图像数据，以及机器人的状态数据（如7个关节位置）；动作特征同样包含7个关节的控制指令。这些数据适用于机器人学习任务，如强化学习或模仿学习。
This dataset is a robotics dataset created using Physical AI Tools and LeRobot tools, specifically designed for the omy_f3m robot type. It contains 99 episodes, totaling 46,759 frames at a frame rate of 30fps, with all data used for training. The data is stored in parquet format and accompanied by video files in mp4 format. The dataset has a rich structure, including metadata such as timestamps, frame indices, and episode indices, as well as observation features and action features: observation features include image data from a wrist camera (resolution 270x480, 3 channels) and a top camera (resolution 480x640, 3 channels), along with robot state data (e.g., 7 joint positions); action features similarly include control commands for 7 joints. This data is suitable for robotics learning tasks, such as reinforcement learning or imitation learning.
数据集概述
- 数据集名称: 100episodesDonderdag1
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: robotis, LeRobot, omy_f3m
数据集结构
- 代码库版本: v2.1
- 机器人类型: omy_f3m
- 总片段数 (Episodes): 99
- 总帧数 (Frames): 46,759
- 总任务数: 1
- 总视频数: 198
- 总数据块数: 1
- 数据块大小: 1,000
- 帧率 (FPS): 30
- 数据划分: 仅包含训练集，片段索引 0 至 98
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，分辨率 270x480，编码 libx264 |
| observation.images.cam_top | video | (480, 640, 3) | 顶部摄像头图像，分辨率 480x640，编码 libx264 |
| observation.state | float32 | (7,) | 机器人关节状态：joint1 至 joint6 及 rh_r1_joint |
| action | float32 | (7,) | 动作数据：joint1 至 joint6 及 rh_r1_joint |
数据路径
- 数据文件: 存储在
data/*/*.parquet路径下，格式为data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频文件: 存储在
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4路径下
创建工具
该数据集使用 Physical AI Tools 和 LeRobot 创建。
