Seal_with_Bin_V1
收藏资源简介：
该数据集使用LeRobot工具创建，专注于机器人学任务，特别针对‘so_follower’机器人类型。它包含13个总集、23036个总帧数和1个总任务，数据以parquet文件格式组织，视频文件为MP4格式。特征包括动作（6维浮点数组，表示肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置等关节位置）、观察状态（与动作相同的6维机器人状态）、两个相机图像（分辨率480x640，3通道，30fps，编码为av1，像素格式yuv420p，非深度图，无音频）以及时间戳、帧索引、集索引、索引和任务索引等元数据。数据集适用于机器人控制和感知研究，支持训练和评估任务。
This dataset is created using LeRobot and focuses on robotics tasks, specifically for the so_follower robot type. It contains 13 total episodes, 23036 total frames, and 1 total task, organized in parquet file format with video files in MP4 format. Features include actions (6-dimensional floating-point arrays representing joint positions such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist roll, and gripper position), observation states (6-dimensional robot states identical to actions), two camera images (resolution 480x640, 3 channels, 30fps, encoded as av1, pixel format yuv420p, not depth maps, no audio), and metadata such as timestamps, frame indices, episode indices, index, and task indices. The dataset is suitable for robotics control and perception research, supporting training and evaluation tasks.
数据集概述
- 数据集名称: Seal_with_Bin_V1
- 许可证: Apache-2.0
- 任务类别: 机器人学（robotics）
- 标签: LeRobot
数据集结构
- 机器人类型: so_follower
- 总片段数: 13
- 总帧数: 23036
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 约100 MB
- 视频文件大小: 约200 MB
- 帧率: 30 FPS
- 数据划分: 全部13个片段用于训练
数据特征
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 包含6个关节的动作指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 包含6个关节的状态反馈：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.images.camera1 | video | [480, 640, 3] | 来自摄像头1的RGB视频，分辨率480x640，编码为AV1，帧率30 FPS |
| observation.images.camera2 | video | [480, 640, 3] | 来自摄像头2的RGB视频，分辨率480x640，编码为AV1，帧率30 FPS |
| 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 |
数据文件路径
- 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
其他信息
- 数据集基于 LeRobot 框架创建，代码版本为 v3.0。
