eval_exp9_sc1var_grasp_the_big_box_20260528-183937
收藏资源简介：
该数据集使用LeRobot工具创建，是一个机器人任务数据集，专门用于so_follower类型机器人。数据集包含1个episode，总共2569帧，涉及1个任务。数据以parquet文件和视频文件形式存储，视频文件总大小为200MB，数据文件总大小为100MB，帧率为30fps。数据集的特征包括：动作（action）包含6个浮点值，对应机器人关节位置（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕滚动和夹爪位置）；观测状态（observation.state）同样包含6个浮点值，表示机器人状态；观测图像（observation.images）提供三个视角的视频数据：前视摄像头（front）、顶部摄像头（top）和夹爪摄像头（gripper），每个视频分辨率为480x640，3通道，使用av1编解码器；此外，还包括时间戳（timestamp）、帧索引（frame_index）、episode索引（episode_index）、索引（index）和任务索引（task_index）等元数据。数据集适用于机器人学习和控制任务，如抓取大箱子（基于数据集名称推断）。
This dataset is created using the LeRobot tool and is a robot task dataset specifically designed for so_follower type robots. It contains 1 episode, 2569 frames total, and involves 1 task. Data is stored in parquet files and video files, with video files totaling 200MB in size, data files totaling 100MB, and a frame rate of 30fps. The dataset features include: action with 6 floating-point values corresponding to robot joint positions (e.g., shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper position); observation.state also with 6 floating-point values representing robot state; observation.images provides video data from three perspectives: front camera, top camera, and gripper camera, each video with a resolution of 480x640, 3 channels, using the av1 codec; additionally, metadata such as timestamp, frame_index, episode_index, index, and task_index are included. The dataset is suitable for robot learning and control tasks, such as grasping large boxes (inferred from the dataset name).
数据集概述
- 数据集名称:
kunhsiang/eval_exp9_sc1var_grasp_the_big_box_20260528-183937 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集结构
- 框架: 基于 LeRobot 创建
- 机器人类型:
so_follower - 总片段数 (Episodes): 1
- 总帧数 (Frames): 2569
- 总任务数 (Tasks): 1
- 数据块大小 (Chunk Size): 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 训练/测试拆分: 全部数据用于训练 (train: 0:1)
特征 (Features)
动作 (Action)
- 数据类型: float32
- 维度: 6
- 包含: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观察状态 (Observation State)
- 数据类型: float32
- 维度: 6
- 包含: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
图像观察 (Observation Images)
- 摄像头视角: 前 (front)、顶 (top)、夹爪 (gripper) 共3个
- 图像分辨率: 480x640 像素，3 通道 (RGB)
- 视频编码: AV1
- 像素格式: yuv420p
- 帧率: 30 FPS
- 是否为深度图: 否
- 是否含音频: 否
元数据字段
- timestamp: float32, 形状 [1]
- frame_index: int64, 形状 [1]
- episode_index: int64, 形状 [1]
- index: int64, 形状 [1]
- task_index: int64, 形状 [1]
数据路径
- 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
