real_pickup_can_0604_cleaned
收藏资源简介：
该数据集是一个由LeRobot创建的机器人操作数据集，包含22个episodes，总计6595帧数据，帧率为25fps。数据集专注于单个任务，以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据特征包括：动作数据（action），涵盖6个关节位置（如shoulder_pan.pos、shoulder_lift.pos等）；观察状态（observation.state），同样包含6个关节位置；以及来自三个摄像头（顶部、腕部、腹部）的图像观察（observation.images.top、observation.images.wrist、observation.images.belly），每个图像分辨率为480x640，3通道，视频编码为av1。此外，数据集还包括时间戳、帧索引、episode索引等元数据。该数据集适用于机器人学习任务，例如模仿学习和强化学习。
This dataset is a robotic manipulation dataset created by LeRobot. It contains 22 episodes with a total of 6595 frames at a frame rate of 25 fps. The dataset focuses on a single task and is stored in Parquet file format, with a total data file size of 100 MB and a video file size of 200 MB. The dataset's data features include: action data (action) covering 6 joint positions such as shoulder_pan.pos, shoulder_lift.pos, etc.; observation state (observation.state) that also contains 6 joint positions; and image observations from three cameras (top, wrist, belly) namely observation.images.top, observation.images.wrist, observation.images.belly, each with a resolution of 480x640, 3 channels, and the video is encoded in AV1. Additionally, the dataset includes metadata such as timestamps, frame indices, and episode indices. This dataset is applicable to robotic learning tasks such as imitation learning and reinforcement learning.
数据集概述
数据集名称: real_pickup_can_0604_cleaned
许可证: Apache-2.0
任务类型: 机器人学 (Robotics)
标签: LeRobot
数据集详情
- 机器人类型: so_follower
- 总episode数: 22
- 总帧数: 6595
- 总任务数: 1
- 帧率 (FPS): 25
- 训练集: 所有22个episode均用于训练
- 数据文件格式: Parquet
- 视频文件格式: MP4 (编码: AV1)
- 数据文件总大小: 约100 MB
- 视频文件总大小: 约200 MB
特征描述
| 特征名称 | 数据类型 | 维度 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper 的位置 |
| observation.state | float32 | [6] | 6维机器人状态，与action结构相同 |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，3通道，帧率25fps |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，3通道，帧率25fps |
| observation.images.belly | video | [480, 640, 3] | 腹部摄像头视频，分辨率480x640，3通道，帧率25fps |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | episode索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 (仅1个任务) |
数据路径结构
- 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
引用信息
当前无具体引用信息。
