eval_pick_and_place_vegetable_proposal_20260706_210614

该数据集是一个用于机器人学任务的数据集，专门针对评估拾取和放置蔬菜的场景。它由LeRobot创建，包含机器人动作和观测数据：动作数据包括6个关节位置（例如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置），观测状态数据同样包括这6个关节位置。观测图像数据包括前置摄像头和腕部摄像头的视频，分辨率均为480x640，3通道，帧率为30fps。数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总共有2个episodes、444帧、1个任务，数据文件大小为100MB，视频文件大小为200MB，机器人类型为so_follower。数据集以parquet和mp4格式存储，适用于机器人控制、计算机视觉和强化学习等领域的研究。This is a robotics dataset dedicated to evaluating pick-and-place tasks involving vegetables. Developed by LeRobot, it encompasses robot action and observation data: the action data covers 6 joint positions (e.g., shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), while the observation state data also includes these 6 joint positions. The observation image data comprises videos from a front-facing camera and a wrist-mounted camera, both with a resolution of 480x640, 3 channels, and a frame rate of 30 fps. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, and task indices. In total, there are 2 episodes, 444 frames, and 1 task, with the data file size reaching 100 MB and the video file size 200 MB. The robot type used is so_follower. The dataset is stored in Parquet and MP4 formats, and is applicable to research in domains such as robot control, computer vision, and reinforcement learning.

原始信息汇总

数据集概述

• 数据集名称: eval_pick_and_place_vegetable_proposal_20260706_210614
• 许可证: Apache-2.0
• 任务类别: 机器人 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 编码版本: v3.0
• 帧率 (fps): 30
• 机器人类型: so_follower

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[6]	机器人动作（6个关节：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper）
observation.state	float32	[6]	机器人状态（与动作相同的6个关节）
observation.images.front	video	[480, 640, 3]	前方摄像头图像，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]	片段索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

数据集规模

• 总片段数: 2
• 总帧数: 444
• 总任务数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据拆分

• 训练集 (train): 包含所有2个片段 (0:2)，无验证/测试集划分

引用

• 引用格式: 需要更多信息 ([More Information Needed])