eval_test_migrated_native
收藏资源简介：
该数据集是使用LeRobot创建的机器人控制数据集，专门针对so_follower机器人类型。数据集包含动作、观测状态和顶部摄像头图像等特征，用于模拟或记录机器人操作任务。数据以Parquet格式存储，结构包括动作（如肩部平移、肩部升降、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）、观测状态（与动作相同的关节位置）、顶部图像（分辨率480x640，3通道）、时间戳、帧索引、剧集索引和任务索引等。帧率为30fps，适用于机器人学习、控制算法训练或评估任务。
This robotic control dataset was developed using LeRobot, specifically tailored for the so_follower robot type. It includes features such as actions, observation states, and top-down camera images, which are used for simulating or recording robotic operation tasks. The data is stored in Parquet format, with its structure covering actions (e.g., shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation and gripper position), observation states (the same joint positions as the actions), top-down images with a resolution of 480x640 and 3 channels, timestamps, frame indices, episode indices and task indices. The frame rate is 30fps, and the dataset is suitable for robotic learning, control algorithm training or evaluation tasks.
数据集概述
- 名称:
eval_test_migrated_native - 许可证: Apache-2.0
- 任务类别: 机器人技术 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集描述
- 机器人类型:
so_follower - 总集数: 0
- 总帧数: 0
- 总任务数: 0
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 FPS
- 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
数据集结构
数据集包含以下特征：
动作 (action)
- 数据类型: float32
- 形状: [6]
- 维度名称:
- shoulder_pan.pos
- shoulder_lift.pos
- elbow_flex.pos
- wrist_flex.pos
- wrist_roll.pos
- gripper.pos
观测状态 (observation.state)
- 数据类型: float32
- 形状: [6]
- 维度名称:
- shoulder_pan.pos
- shoulder_lift.pos
- elbow_flex.pos
- wrist_flex.pos
- wrist_roll.pos
- gripper.pos
顶部摄像头图像 (observation.images.top)
- 数据类型: 视频 (video)
- 形状: [480, 640, 3]
- 维度名称: 高度、宽度、通道
时间戳 (timestamp)
- 数据类型: float32
- 形状: [1]
帧索引 (frame_index)
- 数据类型: int64
- 形状: [1]
集索引 (episode_index)
- 数据类型: int64
- 形状: [1]
索引 (index)
- 数据类型: int64
- 形状: [1]
任务索引 (task_index)
- 数据类型: int64
- 形状: [1]
