AkshitMajorProjectMIR1_blacktip_fix_session1_20260717_125726
收藏资源简介：
该数据集使用LeRobot创建，是一个专注于机械臂控制任务的机器人操作数据集。包含12个episodes，总计7059帧，帧率为30fps。特征包括动作（由6个关节位置组成：肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动、夹爪位置）和观测状态（相同的6个关节位置，以及来自顶部和手腕摄像头的视频图像，分辨率为480x640，3通道RGB，使用AV1编码，30fps）。数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总数据文件大小为100MB，视频文件大小为200MB，机器人类型为so_follower，数据分割为训练集（所有12个episodes）。数据集结构基于Parquet文件，适用于机器人学习和强化学习任务。
This dataset is created using LeRobot and focuses on robot manipulation tasks, specifically robotic arm control. It contains 12 episodes, totaling 7059 frames at a frame rate of 30fps. Features include actions (6 joint positions: shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, gripper position) and observation states (the same 6 joint positions, along with video images from top and wrist cameras with a resolution of 480x640, 3-channel RGB, encoded in AV1 at 30fps). The dataset also includes metadata such as timestamps, frame indices, episode indices, and task indices. The total data file size is 100MB, video file size is 200MB, robot type is so_follower, and data is split into a training set (all 12 episodes). The dataset structure is based on Parquet files and is suitable for robotics learning and reinforcement learning tasks.
数据集概述
- 名称: AkshitMajorProjectMIR1_blacktip_fix_session1_20260717_125726
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: LeRobot (https://github.com/huggingface/lerobot)
数据集结构
- 总集数: 12
- 总帧数: 7059
- 总任务数: 1
- 帧率: 30 FPS
- 数据文件格式: Parquet (data//.parquet)
- 视频文件格式: MP4 (视频编码为 AV1，分辨率 480x640，30 FPS)
- 数据大小: 约 100 MB (数据文件) + 约 200 MB (视频文件)
- 机器人类型: so_follower
- 数据划分: 训练集 (train) 包含全部 12 集，无验证/测试集划分
特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作，包含 6 个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
| observation.state | float32 | [6] | 机器人状态，与 action 相同的 6 个关节位置 |
| observation.images.top | video (av1) | [480, 640, 3] | 顶部摄像头图像，RGB |
| observation.images.wrist | video (av1) | [480, 640, 3] | 腕部摄像头图像，RGB |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 序号 |
| task_index | int64 | [1] | 任务索引 |
引用
暂未提供 BibTeX 引用信息。
