ffw_sg2_rev1_0602_wheel_sj_d1
收藏资源简介：
该数据集使用LeRobot工具创建，专注于机器人学任务。它包含20个总集数、27010个总帧数和60个总视频数，机器人类型为ffw_sg2_rev1。数据以Parquet格式存储，视频以MP4格式存储，帧率为30fps。数据集结构包括时间戳、帧索引、集索引和任务索引等元数据特征。观测数据包括来自头部摄像头（分辨率为376x672，3通道）和左右手腕摄像头（分辨率均为240x424，3通道）的图像视频，以及机器人状态观测（包含19个关节状态，如手臂和夹爪关节）。动作数据包含19个关节的控制值。该数据集适用于机器人控制、视觉感知和强化学习等领域的研究。
This dataset is created using LeRobot and focuses on robotics tasks. It contains a total of 20 episodes, 27,010 frames, and 60 videos, with the robot type being ffw_sg2_rev1. The data is stored in Parquet format, and videos are stored in MP4 format with a frame rate of 30fps. The dataset structure includes metadata features such as timestamps, frame indices, episode indices, and task indices. Observation data includes image videos from a head camera (resolution 376x672, 3 channels) and left/right wrist cameras (both with resolution 240x424, 3 channels), as well as robot state observations (including 19 joint states, such as arm and gripper joints). Action data contains control values for 19 joints. The dataset is suitable for research in robot control, visual perception, and reinforcement learning.
数据集概述
基本信息
- 数据集名称: ffw_sg2_rev1_0602_wheel_sj_d1
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, ffw_sg2_rev1, robotis
- 创建工具: 基于 LeRobot 框架创建
数据规模
- 总片段数 (episodes): 20
- 总帧数 (frames): 27010
- 总任务数: 1
- 总视频数: 60
- 总数据块数 (chunks): 1
- 帧率 (FPS): 30
- 数据分割: 训练集 (train) 包含全部 20 个片段 (索引 0:20)
数据结构
- 数据文件路径:
data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频文件路径:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
| observation.images.cam_head | video | [376, 672, 3] | 头部摄像头图像 (高376, 宽672, 3通道) |
| observation.images.cam_wrist_left | video | [240, 424, 3] | 左腕摄像头图像 (高240, 宽424, 3通道) |
| observation.images.cam_wrist_right | video | [240, 424, 3] | 右腕摄像头图像 (高240, 宽424, 3通道) |
| observation.state | float32 | [19] | 机器人状态 (19个关节: 左臂7关节+左夹爪1关节, 右臂7关节+右夹爪1关节, 头部2关节, 升降1关节) |
| action | float32 | [19] | 动作指令 (与状态相同维度: 19个关节) |
视频编码信息
- 视频编码格式: libx264
- 像素格式: yuv420p
