eval_multitask_run5_testing2
收藏资源简介：
这是一个由LeRobot创建的机器人控制数据集，专门用于机器人技术任务。数据集包含1个episode、559帧和1个任务，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集采用Apache 2.0许可证。数据集结构包括动作特征（6维浮点数组，表示肩部、肘部、手腕和夹爪的位置）、状态观测（与动作相同的6维结构）、侧视和腕部图像观测（均为480x640分辨率的RGB视频，编码为av1，无音频），以及时间戳、帧索引、episode索引、任务索引等元数据。机器人类型为so_follower，数据以parquet文件格式存储，视频以mp4格式存储，适用于机器人控制、强化学习或计算机视觉研究。
This is a robot control dataset created by LeRobot, specifically designed for robotics tasks. The dataset contains 1 episode, 559 frames, and 1 task, with a total data file size of 100MB, a video file size of 200MB, and a frame rate of 30fps. It is licensed under Apache 2.0. The dataset structure includes action features (6-dimensional floating-point arrays representing positions of the shoulder, elbow, wrist, and gripper), state observations (same 6-dimensional structure as actions), side-view and wrist image observations (both RGB videos with a resolution of 480x640, encoded as av1, without audio), as well as metadata such as timestamps, frame indices, episode indices, and task indices. The robot type is so_follower, with data stored in parquet file format and videos in mp4 format, suitable for robot control, reinforcement learning, or computer vision research.
数据集概述
- 数据集名称: eval_multitask_run5_testing2
- 主页: [更多信息需要补充]
- 论文: [更多信息需要补充]
- 许可证: Apache-2.0
- 创建工具: LeRobot
- 可视化: 点击可视化此数据集
任务与标签
- 任务类别: 机器人 (robotics)
- 标签: LeRobot
数据集规模
- 总片段数 (episodes): 1
- 总帧数 (frames): 559
- 总任务数 (tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 块大小 (chunks_size): 1000
数据集结构
- 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 - 数据分割: 训练集 (
train) 包含片段索引0:1
特征详情
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 机器人关节动作: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | (6,) | 机器人关节状态: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.images.side |
video (AV1) | (480, 640, 3) | 侧方摄像头视频，分辨率480x640，帧率30 FPS |
observation.images.wrist |
video (AV1) | (480, 640, 3) | 腕部摄像头视频，分辨率480x640，帧率30 FPS |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 片段索引 |
index |
int64 | (1,) | 索引 |
task_index |
int64 | (1,) | 任务索引 |
机器人类型
- 机器人型号: so_follower
引用信息
- BibTeX: [更多信息需要补充]
