record-test_05
收藏资源简介：
该数据集是一个机器人数据集，使用LeRobot项目创建，专门用于记录和模拟机器人动作与观察数据。数据集包含15个总集数，总计8341帧，数据以30帧每秒的速率采集。数据文件总大小为100MB，视频文件总大小为200MB。数据集的结构包括多个特征：动作（action）包含6个浮点型数值，表示机器人关节位置（如肩部旋转、肘部弯曲、手腕弯曲等）；观察状态（observation.state）同样包含6个浮点型数值，表示机器人状态；观察图像包括环境图像（observation.images.env）和手腕图像（observation.images.wrist），均为视频格式，分辨率480x640，3通道，使用av1编解码器；此外，还有时间戳、帧索引、集索引、索引和任务索引等特征。数据集适用于机器人学习任务，如动作控制和视觉观察分析。
This dataset is a robot dataset created using the LeRobot project, specifically designed for recording and simulating robot action and observation data. It contains 15 total episodes, with a total of 8341 frames, collected at a rate of 30 frames per second. The total size of the data files is 100MB, and the total size of the video files is 200MB. The dataset structure includes multiple features: action consists of 6 floating-point values representing robot joint positions (such as shoulder rotation, elbow bending, wrist bending, etc.); observation.state also consists of 6 floating-point values representing the robot state; observation images include environment images (observation.images.env) and wrist images (observation.images.wrist), both in video format with a resolution of 480x640, 3 channels, using the av1 codec; in addition, there are features such as timestamps, frame index, episode index, index, and task index. The dataset is suitable for robot learning tasks, such as action control and visual observation analysis.
数据集概述
- 数据集名称: record-test_05
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 总集数 (episodes): 15
- 总帧数 (frames): 8341
- 总任务数 (tasks): 1
- 数据块大小: 1000
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 帧率 (fps): 30
- 数据划分: 训练集 (train) 包含全部 15 个 episodes
数据文件路径
- 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
特征 (Features)
| 特征 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 包含 6 个关节位置（shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper） |
| observation.state | float32 | [6] | 与 action 相同的 6 个关节位置状态 |
| observation.images.env | video | [480, 640, 3] | 环境摄像头视频，分辨率 480x640，AV1 编码，30 fps |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率 480x640，AV1 编码，30 fps |
| 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 |
参考文献
- 主页: [More Information Needed]
- 论文: [More Information Needed]
- 引用 (BibTeX): [More Information Needed]
