new_year-50-annotations1
收藏资源简介：
该数据集是一个由LeRobot创建的机器人演示数据集，专用于机器人技术任务。它包含双臂机器人（openarms_follower）的动作和观察数据，旨在支持机器人控制模型的训练或评估。数据特征包括：动作数据（以16维浮点数组表示，涵盖左右机械臂的7个关节位置和夹爪位置），观察状态（与动作相同的16维关节位置数组），以及来自左腕摄像头（分辨率720x1280）、右腕摄像头（分辨率720x1280）和基座摄像头（分辨率480x640）的视频观察，视频以30fps帧率、AV1编码格式记录。此外，数据集还包括时间戳、帧索引、episode索引、任务索引、衬衫ID（shirt_id）和子任务索引等元数据。数据集总共有23个episodes，42588帧，1个任务，数据文件大小为100MB，视频文件大小为200MB，全部数据用于训练分割。
This is a robotic demonstration dataset created by LeRobot, specifically tailored for robotics-related tasks. It encompasses action and observation data collected from the dual-arm robot openarms_follower, designed to facilitate the training and evaluation of robotic control models. The dataset includes the following data features: 1. Action data: Represented as 16-dimensional floating-point arrays, which cover 7 joint positions and gripper positions for both the left and right robotic arms; 2. Observation states: 16-dimensional joint position arrays that match the action data exactly; 3. Video observations from three cameras: left wrist camera (resolution 720x1280), right wrist camera (720x1280), and base camera (480x640). All videos are recorded at 30 fps with AV1 encoding. Additionally, the dataset contains metadata including timestamps, frame indices, episode indices, task indices, shirt_id, and subtask indices. In total, the dataset has 23 episodes, 42588 frames, and 1 unique task. The data files total 100 MB in size, while the video files amount to 200 MB. All data within the dataset is utilized for training splits.
数据集概述
- 数据集名称:
new_year-50-annotations1 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: LeRobot
数据集结构
- 数据格式: Parquet 文件，视频以 MP4 格式存储。
- 帧率: 30 FPS
- 总集数: 23 集
- 总帧数: 42,588 帧
- 总任务数: 1 个任务
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 机器人类型:
openarms_follower
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (16,) | 包含左右臂各7个关节位置及夹爪位置 |
observation.state |
float32 | (16,) | 与 action 相同的状态信息 |
observation.images.left_wrist |
video | (720, 1280, 3) | 左腕摄像头视频，AV1 编码 |
observation.images.right_wrist |
video | (720, 1280, 3) | 右腕摄像头视频，AV1 编码 |
observation.images.base |
video | (480, 640, 3) | 基座摄像头视频，AV1 编码 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 集数索引 |
index |
int64 | (1,) | 索引 |
task_index |
int64 | (1,) | 任务索引 |
shirt_id |
int32 | (1,) | 衬衫 ID |
subtask_index |
int64 | (1,) | 子任务索引 |
数据拆分 (Splits)
- 训练集: 第 0 至第 22 集 (共 23 集)
引用
- 引用信息暂缺。
