eval_act_5_pos_data2_ensembled_chunk

该数据集是通过HuggingFace的LeRobot项目创建的，专注于机器人领域，具体针对so_follower机器人类型。数据集包含动作、观测状态、图像和时间序列数据，其中动作和观测状态涉及6个关节位置（包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）。图像数据来自webcam和realsense摄像头，分辨率为480x640像素，包含3个通道。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集结构还包括特征如时间戳、帧索引、episode索引和任务索引，旨在支持机器人学习和控制任务。This dataset is created through the HuggingFace LeRobot project, focusing on the robotics domain, specifically for the so_follower robot type. It includes action, observation state, image, and time-series data, with actions and observation states involving 6 joint positions (shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position). Image data comes from webcam and realsense cameras, with a resolution of 480x640 pixels and 3 channels. The data is stored in parquet file format, with a total data file size of 100MB, video file size of 200MB, and a frame rate of 30fps. The dataset structure features elements such as timestamps, frame indices, episode indices, and task indices, designed to support robot learning and control tasks.

原始信息汇总

数据集概述

• 数据集名称: eval_act_5_pos_data2_ensembled_chunk
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 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: 0
• 总帧数: 0
• 总任务数: 0
• 分块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率: 30 FPS
• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据特征

特征名	数据类型	形状	描述
action	float32	[6]	包含6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	与action相同，包含6个关节位置
observation.images.webcam	video	[480, 640, 3]	网络摄像头图像，高度480，宽度640，3通道
observation.images.realsense	video	[480, 640, 3]	RealSense相机图像，高度480，宽度640，3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]	全局索引
task_index	int64	[1]	任务索引