ball_merged_88_7
收藏资源简介：
该数据集是一个基于LeRobot框架创建的机器人控制数据集，专为so_follower型机器人设计。它包含86个训练片段，总计70378帧，覆盖4个不同的任务。数据以30帧每秒的速率采集，存储为Parquet格式，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括6维动作空间（控制肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）和6维关节位置的观察状态。观察数据还包括两个视频流：fixed摄像头和handeye摄像头，均以480x640分辨率、3通道（RGB）格式存储，使用h264编码。此外，数据集包含时间戳、帧索引、片段索引和任务索引等元数据，适用于机器人学习和控制研究。
This dataset is a robot control dataset created using the LeRobot framework, specifically designed for so_follower type robots. It contains 86 training episodes, totaling 70,378 frames, covering 4 different tasks. Data is collected at a rate of 30 frames per second, stored in Parquet format, with a total data file size of 100MB and a video file size of 200MB. The dataset features a 6-dimensional action space (controlling shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position) and an observation state (also 6-dimensional joint positions). Observation data also includes two video streams: fixed camera and handeye camera, both stored at 480x640 resolution, 3-channel (RGB) format, using h264 encoding. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, and task indices, making it suitable for robot learning and control research.
数据集概述
- 数据集名称: ball_merged_88_7
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集规模
- 总轮次 (Total Episodes): 86
- 总帧数 (Total Frames): 70,378
- 总任务数 (Total Tasks): 4
- 数据块大小 (Chunks Size): 1,000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
数据集结构
- 机器人类型: so_follower
- 分割: 训练集 (train) 包含 0 到 86 轮次
- 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
特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 包含肩部、肘部、腕部及夹爪的位姿 |
| observation.state | float32 | (6,) | 同 action，为观测状态 |
| observation.images.fixed | video (h264) | (480, 640, 3) | 固定视角摄像头，30 FPS，无音频 |
| observation.images.handeye | video (h264) | (480, 640, 3) | 手眼摄像头，30 FPS，无音频 |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 轮次索引 |
| index | int64 | (1,) | 全局索引 |
| task_index | int64 | (1,) | 任务索引 |
引用信息
- 主页: 待补充
- 论文: 待补充
- BibTeX: 待补充
