omy_f3m_WoensdagTestMulti1524

该数据集是一个机器人数据集，使用LeRobot创建，专门针对omy_f3m机器人类型。数据集包含19个episodes，总计5356帧和3个任务，视频数量为57个，以30fps的帧率录制。数据以parquet格式存储，视频为mp4格式。数据集结构包括时间戳、帧索引、episode索引和任务索引等元数据。观察特征涵盖来自三个摄像头的图像：手腕摄像头（cam_wrist，分辨率480x848x3）、顶部摄像头（cam_top，分辨率480x640x3）和侧面摄像头（cam_side，分辨率480x640x3）。机器人状态和动作均表示为7个关节的浮点数组，分别对应关节1到关节6以及rh_r1_joint。该数据集适用于机器人学习和控制任务，支持训练和评估算法。This dataset is a robotics dataset created using LeRobot, specifically for the omy_f3m robot type. It contains 19 episodes, totaling 5356 frames and 3 tasks, with 57 videos recorded at 30fps. The data is stored in parquet format, and videos are in mp4 format. The dataset structure includes metadata such as timestamps, frame indices, episode indices, and task indices. Observation features cover images from three cameras: wrist camera (cam_wrist, resolution 480x848x3), top camera (cam_top, resolution 480x640x3), and side camera (cam_side, resolution 480x640x3). Robot states and actions are represented as floating-point arrays for 7 joints, corresponding to joints 1 to 6 and rh_r1_joint. This dataset is suitable for robotics learning and control tasks, supporting training and evaluation algorithms.

原始信息汇总

数据集概述

• 名称: omy_f3m_WoensdagTestMulti1524
• 许可证: Apache-2.0
• 任务类别: 机器人（robotics）
• 标签: LeRobot, omy_f3m, robotis

数据集结构

• 代码库版本: v2.1
• 机器人类型: omy_f3m
• 总episode数: 19
• 总帧数: 5356
• 总任务数: 3
• 总视频数: 57
• 总数据块数: 1
• 数据块大小: 1000
• 帧率（FPS）: 30
• 数据划分: 全部19个episode用于训练（train）

特征字段

字段	数据类型	形状/说明
timestamp	float32	[1]
frame_index	int64	[1]
episode_index	int64	[1]
index	int64	[1]
task_index	int64	[1]
observation.images.cam_wrist	video	480×848×3 (高×宽×通道)
observation.images.cam_top	video	480×640×3
observation.images.cam_side	video	480×640×3
observation.state	float32	[7] (joint1~joint6, rh_r1_joint)
action	float32	[7] (joint1~joint6, rh_r1_joint)

数据文件路径

• 主数据文件: data/*/*.parquet
• 元信息文件: meta/info.json
• 视频文件路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

视频编码信息

• 所有摄像头图像使用libx264编码，像素格式为yuv420p。