scale_pasted
收藏资源简介：
该数据集由LeRobot创建，包含一个机器人（so_follower）的演示数据。数据集包含1个episode，共2023帧，任务数为1。特征包括6维动作（shoulder_pan.pos、shoulder_lift.pos、elbow_flex.pos、wrist_flex.pos、wrist_roll.pos、gripper.pos）、6维状态（与动作相同）、前视摄像头图像（分辨率480x640，30fps）、时间戳、帧索引、episode索引等。数据以parquet和视频文件形式存储，适用于机器人模仿学习等任务。
This dataset is created by LeRobot and contains demonstration data of a robot (so_follower). It includes 1 episode with 2023 frames and 1 task. Features include 6-dimensional actions (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos), 6-dimensional states (same as actions), front camera images (resolution 480x640, 30fps), timestamps, frame indices, episode indices, etc. The data is stored in parquet and video file formats and is suitable for robot imitation learning and other tasks.
数据集概述
数据集名称: scale_pasted
任务类型: 机器人学 (Robotics)
许可证: Apache-2.0
创建工具: LeRobot (https://github.com/huggingface/lerobot)
数据集结构
- 总片段数 (Total Episodes): 1
- 总帧数 (Total Frames): 2023
- 总任务数 (Total Tasks): 1
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据特征
动作 (Action)
- 数据类型: float32
- 维度: 6
- 特征名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观测状态 (Observation State)
- 数据类型: float32
- 维度: 6
- 特征名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观测图像 (Observation Image - Front)
- 分辨率: 480x640
- 通道数: 3
- 视频编码: AV1
- 像素格式: yuv420p
- 帧率: 30 FPS
其他元数据
- timestamp: float32, 形状 [1]
- frame_index: int64, 形状 [1]
- episode_index: int64, 形状 [1]
- index: int64, 形状 [1]
- task_index: int64, 形状 [1]
机器人类型
- Robot Type: so_follower
数据划分
- 训练集 (Train): 0:1（全部数据）
数据文件格式
- 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
