tube_A3_to_B2_v1_20260625_200005
收藏资源简介：
这是一个使用LeRobot工具创建的机器人学数据集，专注于机器人控制任务。数据集包含10个episodes，总计4490帧数据，帧率为30fps。数据特征包括动作（6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（与动作相同的6个关节位置），以及三个视角的图像观测：前方、左侧和腕部摄像头，每个视频分辨率为480x640x3，编码为AV1格式。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为so_follower，数据集分割为训练集（覆盖所有episodes）。数据文件总大小为100MB，视频文件总大小为200MB，存储为Parquet和MP4格式。
This is a robotics dataset created using the LeRobot tool, focusing on robot control tasks. The dataset contains 10 episodes, totaling 4490 frames of data with a frame rate of 30fps. Data features include actions (6 joint positions: shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), observation states (the same 6 joint positions as actions), and image observations from three perspectives: front, left, and wrist cameras, each with a video resolution of 480x640x3 encoded in AV1 format. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, index, and task index. The robot type is so_follower, and the dataset is split into a training set (covering all episodes). The total size of the data files is 100MB, and the video files total 200MB, stored in Parquet and MP4 formats.
数据集概述
- 数据集名称:
tube_A3_to_B2_v1_20260625_200005 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 基于 LeRobot (https://github.com/huggingface/lerobot) 创建
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 30
- 机器人类型: so_follower
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 6维动作，包括肩关节、肘关节、腕关节和夹爪位置 |
| observation.state | float32 | (6,) | 6维机器人状态，与动作维度一致 |
| observation.images.front | video | (480, 640, 3) | 前置摄像头图像，AV1编码，30fps |
| observation.images.left | video | (480, 640, 3) | 左侧摄像头图像，AV1编码，30fps |
| observation.images.wrist | video | (480, 640, 3) | 腕部摄像头图像，AV1编码，30fps |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 回合索引 |
| index | int64 | (1,) | 全局索引 |
| task_index | int64 | (1,) | 任务索引 |
统计信息
- 总回合数 (total_episodes): 10
- 总帧数 (total_frames): 4490
- 总任务数 (total_tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据拆分
- 训练集 (train): 包含所有10个回合 (0:10)
文件路径结构
- 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
引用信息
- BibTeX: 暂缺
