eval_phasegatetest0607_35k_0.02
收藏资源简介：
这是一个由LeRobot创建的机器人数据集，专门用于so_follower类型的机器人任务。数据集包含3个完整的episodes，总计1530帧，覆盖1个任务。数据以parquet文件格式存储，总数据大小为100MB，视频文件大小为200MB，帧率为30fps。数据集的特征包括：动作数据（6个关节位置：肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转、夹持器位置）、观察状态（与动作相同的6个关节位置）、两个摄像头图像观察（手腕视角和顶部视角，均为480x640分辨率、3通道彩色视频）、以及时间戳、帧索引、episode索引、任务索引等元数据。数据集适用于机器人控制和模仿学习任务。
This is a robotic dataset created by LeRobot, specifically designed for so_follower-type robotic tasks. The dataset contains 3 complete episodes, totaling 1530 frames, covering 1 single task. It is stored in parquet file format, with a total data size of 100 MB and the video file size of 200 MB, with a frame rate of 30 fps. The dataset features include: action data (6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, gripper position), observation states (the same 6 joint positions as the action data), two camera image observations (wrist view and top view, both 3-channel color videos with a resolution of 480x640), as well as metadata such as timestamps, frame index, episode index and task index. This dataset is suitable for robotic control and imitation learning tasks.
数据集概况
- 名称: eval_phasegatetest0607_35k_0.02
- 许可证: Apache-2.0
- 任务类别: 机器人学（robotics）
- 标签: LeRobot
- 创建工具: LeRobot (https://github.com/huggingface/lerobot)
数据集结构
- 机器人类型: so_follower
- 总片段数: 3
- 总帧数: 1530
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 FPS
- 数据划分: 全部3个片段用于训练（train: 0:3）
特征字段
| 字段名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 动作指令，包括6个关节位置：shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper |
| observation.state | float32 | [6] | 观察状态，与action结构相同，表示机器人关节位置 |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，3通道，AV1编码，30 FPS |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，3通道，AV1编码，30 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 |
文件路径格式
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
