eval_xvla_move_to_the_red_cup
收藏资源简介：
该数据集是一个机器人学领域的数据集，使用LeRobot工具创建。数据集包含3个情节，共690帧，涉及1个任务，主要用于机器人控制和学习。数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为25fps。数据集结构包括动作、观测状态、观测图像（来自手机摄像头，分辨率为480x640，3通道）、时间戳、帧索引、情节索引、索引和任务索引等特征。动作和观测状态均包含6个自由度（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置），机器人类型为so_follower。数据集适用于训练和评估机器人控制模型，特别是移动红色杯子等任务。
This is a robotics dataset created using the LeRobot tool. It contains 3 episodes with a total of 690 frames, focusing on one single task, and is primarily intended for robot control and learning. The data is stored in Parquet format, with a total data file size of 100 MB and a video file size of 200 MB, with a frame rate of 25 fps. The dataset structure includes features such as actions, observation states, observation images (captured by smartphone cameras with a resolution of 480×640 and 3 channels), timestamps, frame indices, episode indices, indices, and task indices. Both actions and observation states have 6 degrees of freedom, including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. The robot type is so_follower. This dataset is suitable for training and evaluating robot control models, especially for tasks such as moving a red cup.
数据集概述
- 数据集名称: eval_xvla_move_to_the_red_cup
- 许可证: Apache-2.0
- 任务类别: 机器人技术（Robotics）
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 机器人类型: so_follower
- 总片段数: 3
- 总帧数: 690
- 总任务数: 1
- 分块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 25 FPS
- 数据集划分: 训练集（全部数据，片段0至2）
特征说明
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作指令：肩部转动、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | [6] | 6维观察状态：与动作维度一致 |
| observation.images.phone | video | [480, 640, 3] | 手机摄像头拍摄的RGB视频，分辨率480x640，编码为AV1，帧率25 FPS |
| 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 |
数据集可视化
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