2cam_ftop_wst_tab_white_15hz_100ep

该数据集由LeRobot创建，专注于机器人学领域，包含100个episodes，总计22713帧。数据以parquet文件格式存储，视频以mp4格式存储，帧率为15fps。数据集特征包括：8维关节动作（joint1至joint8）、8维关节状态观测（joint1至joint8）、顶部摄像头图像（480x640x3分辨率）和腕部摄像头图像（480x640x3分辨率），以及时间戳、帧索引、episode索引、任务索引等元数据。使用Apache 2.0许可证，适用于机器人控制、视觉感知等研究任务。This dataset is created by LeRobot and focuses on the field of robotics. It contains 100 episodes with a total of 22713 frames. The data is stored in parquet file format, and videos are stored in mp4 format with a frame rate of 15fps. Dataset features include: 8-dimensional joint actions (joint1 to joint8), 8-dimensional joint state observations (joint1 to joint8), top camera images (480x640x3 resolution) and wrist camera images (480x640x3 resolution), as well as metadata such as timestamps, frame indices, episode indices, and task indices. It uses the Apache 2.0 license and is suitable for research tasks like robot control and visual perception.

原始信息汇总

数据集概述

• 名称: 2cam_ftop_wst_tab_white_15hz_100ep
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 创建工具: 使用 LeRobot (https://github.com/huggingface/lerobot) 创建

数据集结构

• 机器人类型: isaac_piper
• 总集数 (Total Episodes): 100
• 总帧数 (Total Frames): 22713
• 总任务数 (Total Tasks): 1
• 块大小 (Chunks Size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 15
• 数据分割: 所有数据用于训练 (train: "0:100")
• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征 (Features)

数据集包含以下特征，每个特征均有相应的数据类型、形状和名称：

特征名称	数据类型	形状	说明
action	float32	[8]	8维动作向量，关节名称: joint1 至 joint8
observation.state	float32	[8]	8维状态向量，关节名称: joint1 至 joint8
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480x640，3通道，编码AV1，帧率15 FPS
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480x640，3通道，编码AV1，帧率15 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

可视化

该数据集可通过 LeRobot 可视化空间进行预览：https://huggingface.co/spaces/lerobot/visualize_dataset?path=shenj/2cam_ftop_wst_tab_white_100