posctrl-acceptance-probe

该数据集是一个用于机器人控制任务的数据集，通过LeRobot工具创建，包含总帧数570，以30帧每秒的速率采集。数据特征包括动作（action）和观测状态（observation.state），均为6维浮点数组，对应机械臂的六个关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）。观测图像（observation.images.overhead）为视频格式，分辨率为480x640像素，3通道，采用AV1编码。此外，数据集包含时间戳、帧索引、集索引、索引和任务索引等元数据。机器人类型为so_follower，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。数据集仅包含训练分割（train: 0:1），适用于机器人学习和控制研究。This dataset is designed for robot control tasks and was created using the LeRobot tool. It contains a total of 570 frames, collected at a rate of 30 frames per second. The features include action and observation.state, both represented as 6-dimensional floating-point arrays corresponding to the six joint positions of the robotic arm (e.g., shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position). The observation images (observation.images.overhead) are in video format with a resolution of 480x640 pixels, 3 channels, and encoded with AV1. Additionally, the dataset includes metadata such as timestamps, frame index, episode index, index, and task index. The robot type is so_follower, and the data is stored in Parquet format, with a total data file size of 100MB and a video file size of 200MB. The dataset only contains a training split (train: 0:1) and is suitable for robot learning and control research.

原始信息汇总

数据集概述

• 数据集名称: posctrl-acceptance-probe
• 数据集地址: https://huggingface.co/datasets/charansoma3001/posctrl-acceptance-probe
• 许可证: Apache-2.0
• 任务类别: 机器人学
• 标签: LeRobot

数据集创建

该数据集使用 LeRobot 创建。

数据集结构

• 数据版本: v3.0
• 帧率 (FPS): 30
• 总集数: 1
• 总帧数: 570
• 总任务数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: so_follower

特征

• action (动作):

  • 数据类型: float32
  • 形状: [6]
  • 名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

• observation.state (观测状态):

  • 数据类型: float32
  • 形状: [6]
  • 名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

• observation.images.overhead (俯视图像):

  • 数据类型: video
  • 形状: [480, 640, 3] (高、宽、通道)
  • 视频编码: av1
  • 视频帧率: 30
  • 视频像素格式: yuv420p

• timestamp (时间戳):

  • 数据类型: float32
  • 形状: [1]

• frame_index (帧索引):

  • 数据类型: int64
  • 形状: [1]

• episode_index (集索引):

  • 数据类型: int64
  • 形状: [1]

• index (索引):

  • 数据类型: int64
  • 形状: [1]

• task_index (任务索引):

  • 数据类型: int64
  • 形状: [1]

数据文件

• 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

数据集划分

• 训练集: 0:1 (即全部数据用于训练)