air_bag_close_full_box
收藏资源简介：
该数据集使用LeRobot创建，是一个专门用于机器人控制任务的机器人数据集。它包含40个episodes，总计10172帧，针对单个任务设计，机器人类型为so101_follower。数据集内容涵盖动作数据（包括肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置共6个关节位置）、状态观测（与动作相同的6个关节位置）、图像观测（前视摄像头和腕部摄像头的RGB视频，分辨率均为480x640，帧率30fps），以及时间戳、帧索引、episode索引等元数据。数据以parquet文件格式存储，视频文件为MP4格式，总数据大小约100MB，视频大小约200MB，仅包含训练集（episodes 0到40）。
This dataset is created using LeRobot and is a robot dataset specifically designed for robot control tasks. It contains 40 episodes, totaling 10172 frames, tailored for a single task with robot type so101_follower. The data includes action data (6 joint positions: shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), state observations (the same 6 joint positions as actions), image observations (RGB videos from a front-view camera and a wrist camera, both with a resolution of 480x640 and a frame rate of 30fps), as well as metadata such as timestamps, frame indices, and episode indices. The data is stored in parquet file format, with video files in MP4 format, total data size approximately 100MB, video size about 200MB, and includes only the training set (episodes 0 to 40).
数据集概述：air_bag_close_full_box
- 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
- 机器人类型：so101_follower
- 总插曲数：40
- 总帧数：10172
- 总任务数：1
- 块大小：1000
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 帧率 (FPS)：30
- 训练/测试分割：全部40个插曲用于训练 (train: 0:40)
数据路径
- 数据存储格式：Parquet 文件，路径为
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频存储格式：MP4 文件，路径为
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (6,) | 动作空间，包含：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | (6,) | 观测状态，与动作空间结构相同 |
observation.images.front |
video | (480, 640, 3) | 前置摄像头图像，分辨率480x640，3通道，AV1编码，30 FPS |
observation.images.wrist |
video | (480, 640, 3) | 腕部摄像头图像，分辨率480x640，3通道，AV1编码，30 FPS |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 插曲索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
