test90dataset
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学任务，具体针对so_follower机器人类型。数据集包含机器人的动作和观察数据：动作和观察状态均包括6维关节位置，涵盖肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置。观察数据还包括来自前部和顶部摄像头的视频图像，每帧分辨率为480x640像素、3通道RGB格式。此外，数据集提供时间戳、帧索引、任务索引等元数据，用于跟踪数据序列。数据以parquet文件存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集结构支持分块处理，但未在README中明确说明具体任务或应用场景。
This dataset is created by LeRobot and focuses on robotics tasks, specifically involving the so_follower robot type. It includes action and observation data for the robot: both action and observation states consist of 6-dimensional joint positions, such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position. The observation data also includes video images from front and top cameras, with each frame having a resolution of 480x640 pixels and 3-channel RGB format. Additionally, the dataset provides metadata such as timestamps, frame indices, and task indices for tracking data sequences. The data is stored in parquet files, and videos are stored in mp4 format, with a total data file size of 100MB and video file size of 200MB, at a frame rate of 30fps. The dataset structure supports chunked processing, but the README does not explicitly specify the specific tasks or application scenarios.
数据集概述
基本信息
- 数据集名称: test90dataset
- 许可证: Apache-2.0
- 任务类别: 机器人学（Robotics）
- 标签: LeRobot
- 来源: 使用 LeRobot 创建
数据集结构
- 配置名称: default
- 数据文件: 路径为
data/*/*.parquet - 代码库版本: v3.0
- 机器人类型: so_follower
- 总集数: 0
- 总帧数: 0
- 总任务数: 0
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 分割 (Splits): 无
数据特征
数据集包含以下特征：
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含6维机器人动作指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 6维机器人状态观测，与动作名称一致 |
| observation.images.front | video | [480, 640, 3] | 前视摄像头视频，分辨率480x640，3通道 |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，3通道 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据存储路径
- 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
引用信息
- 论文: 暂无信息
- 主页: 暂无信息
- BibTeX: 暂无信息
