panda_single_5555

该数据集是一个专为机器人学任务设计的资源，针对单个Panda机器人（panda_single）。它包含50个训练集片段，总帧数为25578，视频帧率为30fps。数据集结构丰富，包括时间戳、帧索引、片段索引等元数据特征。观测数据涵盖多个图像源：外部摄像头（ext_cam）、外部摄像头环（ext_cam_ring）和左腕摄像头（left_wrist_cam），所有图像分辨率均为480x640，3通道彩色视频，使用libx264编码和yuv420p像素格式。状态观测（observation.state）和动作（action）数据均包含8个浮点数值，分别对应Panda机器人的7个关节和1个夹爪控制。数据以Parquet格式存储，视频以MP4格式存储，适用于机器人控制、视觉感知和强化学习等应用场景。

This dataset is a resource designed for robotics tasks, specifically targeting a single Panda robot (panda_single). It contains 50 training segments with a total of 25,578 frames and a video frame rate of 30fps. The dataset structure is comprehensive, including metadata features such as timestamps, frame indices, and segment indices. Observation data covers multiple image sources: external camera (ext_cam), external camera ring (ext_cam_ring), and left wrist camera (left_wrist_cam), all with an image resolution of 480x640, 3-channel color video, encoded using libx264 and yuv420p pixel format. State observation (observation.state) and action data each contain 8 floating-point values, corresponding to the 7 joints and 1 gripper control of the Panda robot. The data is stored in Parquet format, and videos are stored in MP4 format, making it suitable for applications such as robot control, visual perception, and reinforcement learning.

原始信息汇总

数据集概述

• 数据集名称: panda_single_5555
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot, panda_single, robotis
• 创建工具: 使用 LeRobot 创建

数据集规模

• 总片段数 (Episodes): 50
• 总帧数 (Frames): 25,578
• 总任务数 (Tasks): 1
• 总视频数 (Videos): 150
• 总数据块数 (Chunks): 1
• 块大小 (Chunks Size): 1,000
• 帧率 (FPS): 30
• 数据分割: 训练集 (train) 包含全部 50 个片段 (0:50)

数据集结构

• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征描述

特征名称	数据类型	形状	说明
timestamp	float32	(1,)	时间戳
frame_index	int64	(1,)	帧索引
episode_index	int64	(1,)	片段索引
index	int64	(1,)	全局索引
task_index	int64	(1,)	任务索引
observation.images.ext_cam	视频	(480, 640, 3)	外部相机图像，视频编码 libx264，像素格式 yuv420p
observation.images.ext_cam_ring	视频	(480, 640, 3)	外部环状相机图像，视频编码 libx264，像素格式 yuv420p
observation.images.left_wrist_cam	视频	(480, 640, 3)	左腕部相机图像，视频编码 libx264，像素格式 yuv420p
observation.state	float32	(8,)	机器人状态，包含 7 个 Panda 关节 (joint1-7) 和夹爪 (gripper)
action	float32	(8,)	动作指令，包含 7 个 Panda 关节 (joint1-7) 和夹爪 (gripper)

机器人类型

• 机器人类型: panda_single