openarm_mini_dual_camera_blue_sponge_0529_01_right_only
收藏资源简介：
该数据集名为openarm_mini_dual_camera_blue_sponge_0529_01_right_only，由LeRobot创建，专用于机器人学任务。数据集包含141个片段，总计85149帧，帧率为30 FPS。机器人类型为bi_openarm_follower。数据结构包括动作、观察状态、图像（来自顶部和右腕摄像头）、时间戳、帧索引、片段索引、索引和任务索引等特征。动作和观察状态特征各包含8个浮点数值，分别对应右关节1到7的位置以及右夹爪的位置。图像特征以视频格式存储，分辨率为480x640，3通道，使用AV1编解码器。数据整体以Parquet文件格式存储，视频部分以MP4格式存储。许可证为Apache-2.0。
The dataset is named openarm_mini_dual_camera_blue_sponge_0529_01_right_only, created by LeRobot, and is exclusively designed for robotics tasks. It contains 141 segments, totaling 85149 frames with a frame rate of 30 FPS. The robot type is bi_openarm_follower. The data structure includes features such as actions, observation states, images (from the top and right wrist cameras), timestamps, frame indices, segment indices, indices, and task indices. Both the action and observation state features each comprise 8 floating-point values, which respectively correspond to the positions of right joints 1 through 7 and the right gripper. The image features are stored in video format, with a resolution of 480×640, 3 channels, using the AV1 codec. The entire dataset is stored in Parquet file format, while the video segments are stored in MP4 format. The license is Apache-2.0.
数据集概述
- 数据集名称:
openarm_mini_dual_camera_blue_sponge_0529_01_right_only - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集特性
- 机器人类型:
bi_openarm_follower - 总集数 (Episodes): 141
- 总帧数 (Frames): 85,149
- 帧率 (FPS): 30
- 总任务数: 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据分割: 训练集 (
train): 所有 141 集 (索引 0 至 140)
数据结构
- 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 - 代码库版本: v3.0
特征字段
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (8,) | 包含右臂7个关节位置和右夹爪位置的动作指令 |
observation.state |
float32 | (8,) | 机器人右臂7个关节位置和右夹爪位置的观测状态 |
observation.images.top |
video | (480, 640, 3) | 顶部摄像头视频，分辨率480x640，AV1编码，30 FPS |
observation.images.right_wrist |
video | (480, 640, 3) | 右腕摄像头视频，分辨率480x640，AV1编码，30 FPS |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 集索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
其他信息
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- Citation: [More Information Needed]
