record_grasp_yellow_0901_modified

该数据集是使用LeRobot创建的机器人操作数据集，包含41个演示片段（episode），共11977帧，涉及4个不同任务。机器人类型为so_follower，数据记录内容包括：6维动作向量（肩部关节位置和夹爪位置）、6维机器人状态观测（与动作相同维度）、两个摄像头（上摄像头和前摄像头）采集的480x640分辨率RGB视频（h264编码，30fps）、时间戳、帧索引、episode索引、任务索引等。数据以Parquet和MP4视频文件形式存储，采用Apache-2.0许可证。This dataset is a robot manipulation dataset created using LeRobot, containing 41 episodes with a total of 11,977 frames across 4 different tasks. The robot type is so_follower. The recorded data includes 6-dimensional action vectors (shoulder joint positions and gripper positions), 6-dimensional robot state observations (same dimensions as actions), RGB videos from two cameras (top camera and front camera) at 480x640 resolution (h264 encoding, 30fps), timestamps, frame indices, episode indices, task indices, etc. The data is stored as Parquet and MP4 video files, licensed under Apache-2.0.

原始信息汇总

数据集概述

基本信息

• 数据集名称: Panda512/record_grasp_yellow_0901_modified
• 许可证: apache-2.0
• 任务类别: robotics
• 标签: LeRobot
• 数据集主页: https://huggingface.co/datasets/Panda512/record_grasp_yellow_0901_modified
• 可视化地址: https://huggingface.co/spaces/lerobot/visualize_dataset?path=Panda512/record_grasp_yellow_0901_modified

数据集描述

• Homepage: More Information Needed
• Paper: More Information Needed
• License: apache-2.0
• 该数据集使用 LeRobot 创建（https://github.com/huggingface/lerobot）。

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
• total_episodes: 41
• total_frames: 11977
• total_tasks: 4
• chunks_size: 1000
• data_files_size_in_mb: 100
• video_files_size_in_mb: 200
• robot_type: so_follower
• splits: train: 0:41

数据路径

• 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

特征（Features）

action

• dtype: float32
• shape: [6]
• names: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

observation.state

• dtype: float32
• shape: [6]
• names: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

observation.images.up

• dtype: video
• shape: [480, 640, 3]
• names: height, width, channels
• info:
  • is_depth_map: false
  • video.height: 480
  • video.width: 640
  • video.codec: h264
  • video.pix_fmt: yuv420p
  • video.fps: 30
  • video.channels: 3
  • has_audio: false
  • video.g: 2
  • video.crf: 30
  • video.preset: null
  • video.fast_decode: 0
  • video.video_backend: pyav
  • video.extra_options: {}

observation.images.front

• dtype: video
• shape: [480, 640, 3]
• names: height, width, channels
• info:
  • is_depth_map: false
  • video.height: 480
  • video.width: 640
  • video.codec: h264
  • video.pix_fmt: yuv420p
  • video.fps: 30
  • video.channels: 3
  • has_audio: false
  • video.g: 2
  • video.crf: 30
  • video.preset: null
  • video.fast_decode: 0
  • video.video_backend: pyav
  • video.extra_options: {}

timestamp

• dtype: float32
• shape: [1]
• names: null

frame_index

• dtype: int64
• shape: [1]
• names: null

episode_index

• dtype: int64
• shape: [1]
• names: null

index

• dtype: int64
• shape: [1]
• names: null

task_index

• dtype: int64
• shape: [1]
• names: null

引用信息

• BibTeX: More Information Needed