primitive_motion
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专门用于机器人学习任务。数据集包含150个剧集，总计3338帧，覆盖30个不同任务。数据以10帧每秒的速率采集，存储为Parquet格式文件，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括观测图像（来自腕部摄像头，分辨率为480x640，3通道）、观测状态（6个浮点数，表示机器人的关节角度，包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹持器）、动作（6个浮点数，与观测状态对应）、时间戳、帧索引、剧集索引、索引和任务索引。机器人类型为so101，支持原始运动任务。数据集适用于机器人控制、强化学习等研究领域。
This dataset is a robotics dataset created using LeRobot, specifically designed for robot learning tasks. It contains 150 episodes, totaling 3338 frames, covering 30 different tasks. Data was collected at a rate of 10 frames per second and stored in Parquet format files, with a total data file size of 100MB and a video file size of 200MB. The dataset features include observation images (from a wrist camera, resolution 480x640, 3 channels), observation states (6 floating-point numbers representing robot joint angles, including shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, and gripper), actions (6 floating-point numbers corresponding to observation states), timestamps, frame indices, episode indices, indices, and task indices. The robot type is so101, supporting primitive motion tasks. The dataset is suitable for research areas such as robot control and reinforcement learning.
数据集概述
- 名称: primitive_motion
- 主页: https://huggingface.co/datasets/eorikun/primitive_motion
- 许可证: Apache-2.0
- 任务类型: 机器人学（Robotics）
- 标签: LeRobot, so101, primitive-motion, mujoco
数据集规模
- 总片段数: 150
- 总帧数: 3338
- 总任务数: 30
- 帧率: 10 FPS
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 块大小: 1000 帧
- 分割: 训练集包含全部 150 个片段（索引 0 至 150）
数据格式与存储
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 编码格式: 视频采用 AV1 编码，分辨率 480×640
特征字段
| 字段 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| observation.images.wrist_cam | video (AV1) | [480, 640, 3] | 腕部摄像头图像，10 FPS |
| observation.state | float32 | [6] | 机器人状态：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| action | float32 | [6] | 动作：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
创建工具
该数据集使用 LeRobot 创建。
