xylophone
收藏资源简介：
该数据集是使用LeRobot工具创建的机器人数据集，专门用于机器人任务。它包含3个总集数、4403个总帧数和1个总任务，数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集结构包括训练分割（0:3），数据路径和视频路径分别指向特定格式的文件。特征包括动作（6维浮点数组，对应肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹持器）、观察状态（6维浮点数组，与动作相同）、顶部图像观察（720x1280x3视频，使用av1编解码器）和侧面图像观察（480x640x3视频，使用av1编解码器），以及时间戳、帧索引、集索引、索引和任务索引等元数据。数据集采用Apache 2.0许可证。
This dataset is a robotics dataset created using the LeRobot tool, specifically designed for robot tasks. It contains 3 total episodes, 4403 total frames, and 1 total task, with data stored in parquet format. The total data file size is 100MB, video file size is 200MB, and the frame rate is 30fps. The dataset structure includes a training split (0:3), with data paths and video paths pointing to files in specific formats. Features include actions (6-dimensional float arrays corresponding to shoulder translation, shoulder elevation, elbow bend, wrist bend, wrist roll, and gripper), observation states (6-dimensional float arrays, same as actions), top image observations (720x1280x3 videos using the av1 codec) and side image observations (480x640x3 videos using the av1 codec), along with metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset is licensed under Apache 2.0.
数据集概述：xylophone
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 数据集创建工具: LeRobot
数据集结构
- 代码库版本: v3.0
- 机器人类型: so100_follower
- 总集数 (Episodes): 3
- 总帧数 (Frames): 4403
- 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
- 数据划分: 全部 (3个episode) 用于训练 (train: 0:3)
特征 (Features)
| 特征名 | 数据类型 | 形状 (维度) | 字段说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作指令，对应 shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.state | float32 | [6] | 6维机器人状态，对应 shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.images.top | video (AV1编码) | [720, 1280, 3] | 顶部摄像头图像，分辨率 720x1280，30 FPS，3通道，无音频 |
| observation.images.side | video (AV1编码) | [480, 640, 3] | 侧面摄像头图像，分辨率 480x640，30 FPS，3通道，无音频 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据与视频路径
- 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
