sponge_task_10_02_v5

该数据集使用LeRobot库创建，包含机器人操作数据。机器人类型为so_follower，数据包括6维关节动作和状态（肩部、肘部、腕部、夹爪等），以及两个摄像头（cam_0和cam_1）采集的视频图像（分辨率480x640），此外还有时间戳、帧索引、片段索引、任务索引等信息。数据集以parquet和mp4格式存储，适用于机器人模仿学习或行为克隆等任务。This dataset is created using the LeRobot library and contains robot manipulation data. The robot type is so_follower, and the data includes 6-dimensional joint actions and states (shoulder, elbow, wrist, gripper, etc.), as well as video images (resolution 480x640) captured by two cameras (cam_0 and cam_1). Additionally, it contains timestamps, frame indices, episode indices, task indices, and other information. The dataset is stored in parquet and mp4 formats and is suitable for tasks such as robot imitation learning or behavior cloning.

原始信息汇总

数据集概述

基本信息

• 数据集地址：https://huggingface.co/datasets/nakanakagawa/sponge_task_10_02_v5
• 许可证：apache-2.0
• 任务类别：robotics（机器人）
• 标签：LeRobot
• 创建工具：LeRobot（https://github.com/huggingface/lerobot）
• 可视化地址：https://huggingface.co/spaces/lerobot/visualize_dataset?path=nakanakagawa/sponge_task_10_02_v5

数据集描述

• 主页：[More Information Needed]
• 论文：[More Information Needed]
• 许可证：apache-2.0

数据集结构

配置信息：

• 配置名称：default
• 数据文件：data//.parquet

meta/info.json 信息

字段	值
codebase_version	v3.0
robot_type	so_follower
total_episodes	0
total_frames	0
total_tasks	0
chunks_size	1000
data_files_size_in_mb	100
video_files_size_in_mb	200
fps	20
splits	{}
data_path	data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path	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	名称列表
action	float32	[6]	shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.images.cam_0	video	[480, 640, 3]	height, width, channels
observation.images.cam_1	video	[480, 640, 3]	height, width, channels
timestamp	float32	[1]	null
frame_index	int64	[1]	null
episode_index	int64	[1]	null
index	int64	[1]	null
task_index	int64	[1]	null

引用信息

BibTeX：

bibtex [More Information Needed]