real01b-square-d2-r1-fixedinit-checkpoint100000-heldout-sobol50
收藏原始信息汇总
数据集概述
- 名称: real01b-square-d2-r1-fixedinit-checkpoint100000-heldout-sobol50
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 框架: 基于 LeRobot 创建
数据集结构
基本信息
- 代码版本: v3.0
- 帧率 (FPS): 15
- 总片段数: 150
- 总帧数: 35,046
- 总任务数: 1
- 数据类型文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: Franka
- 数据分割: 训练集 (150个片段，索引0:150)
特征维度与命名
| 特征名称 | 数据类型 | 形状 | 维度名称 |
|---|---|---|---|
| observation.state | float32 | (7,) | cart_pos_x, cart_pos_y, cart_pos_z, cart_rot_x, cart_rot_y, cart_rot_z, gripper_position |
| action | float32 | (7,) | vel_x, vel_y, vel_z, vel_roll, vel_pitch, vel_yaw, gripper_action |
| steps_to_go | int64 | (1,) | steps_to_go |
| source | int64 | (1,) | source_id |
| intervention | int64 | (1,) | intervention_flag |
| success | int64 | (1,) | success_flag |
| is_valid | int64 | (1,) | is_valid_flag |
| reward | float32 | (1,) | reward |
| done | int64 | (1,) | done_flag |
| policy_id | int64 | (1,) | policy_id |
| round_id | int64 | (1,) | round_id |
| action.cartesian_velocity | float32 | (6,) | x, y, z, roll, pitch, yaw |
| action.cartesian_position | float32 | (6,) | x, y, z, roll, pitch, yaw |
| action.joint_velocity | float32 | (7,) | joint_0 至 joint_6 |
| action.joint_position | float32 | (7,) | joint_0 至 joint_6 |
| action.gripper_position | float32 | (1,) | gripper |
| action.gripper_velocity | float32 | (1,) | gripper |
| observation.state.cartesian_position | float32 | (6,) | x, y, z, roll, pitch, yaw |
| observation.state.joint_position | float32 | (7,) | joint_0 至 joint_6 |
| observation.state.joint_velocity | float32 | (7,) | joint_0 至 joint_6 |
| observation.state.cartesian_velocity | float32 | (6,) | x, y, z, roll, pitch, yaw |
| observation.state.gripper_position | float32 | (1,) | gripper |
| telemetry.franka.motor_torques_external | float32 | (7,) | joint_0 至 joint_6 |
| observation.images.wrist_left | video | (480, 640, 3) | height, width, channels |
| observation.images.side_1 | video | (480, 640, 3) | height, width, channels |
| manifest_idx | int64 | (1,) | manifest_idx |
| nut_x | float32 | (1,) | nut_x |
| nut_y | float32 | (1,) | nut_y |
| nut_yaw | float32 | (1,) | nut_yaw |
| peg_x | float32 | (1,) | peg_x |
| peg_y | float32 | (1,) | peg_y |
| timestamp | float32 | (1,) | 无命名 |
| frame_index | int64 | (1,) | 无命名 |
| episode_index | int64 | (1,) | 无命名 |
| index | int64 | (1,) | 无命名 |
| task_index | int64 | (1,) | 无命名 |
视频编码参数
- 分辨率: 480 x 640
- 色彩通道: 3 (RGB)
- 编码格式: AV1
- 像素格式: yuv420p
- 帧率: 15 fps
- CRF: 30
- 预设: 12
数据文件路径
- 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
其他信息
- 论文: 暂无
- 主页: 暂无
- 引用格式: 暂无
