blue-on-red-stack
收藏资源简介：
该数据集使用LeRobot工具创建，专门针对so_follower机器人类型。数据集包含49个episodes，总计17930帧，以15fps的帧率记录。数据以parquet文件格式存储，视频以MP4格式存储，总数据文件大小为100MB，视频文件大小为200MB。特征包括动作（包含6个关节位置：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（同样包含6个关节位置）、两个视角的图像观测（侧视和俯视，均为480x640分辨率、3通道的彩色视频），以及时间戳、帧索引、episode索引等元数据。数据集用于训练和评估机器人控制任务，所有数据已分割为训练集。
This dataset was created using the LeRobot tool, specifically tailored for the so_follower robot type. It contains 49 episodes, totaling 17,930 frames recorded at a frame rate of 15 fps. The structured data is stored in Parquet file format, while the video data is stored in MP4 format. The total size of the Parquet data files is 100 MB, and the total size of the MP4 video files is 200 MB. The dataset features include actions (comprising 6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (also containing 6 joint positions), image observations from two viewpoints (side view and top-down view, both with a resolution of 480x640 and 3-channel color videos), as well as metadata such as timestamps, frame indices, and episode indices. This dataset is intended for training and evaluating robot control tasks, and all data has been split into the training set.
数据集概述
- 数据集名称: blue-on-red-stack
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集规模
- 总片段数: 60
- 总帧数: 22,220
- 总任务数: 1
- 帧率: 15 FPS
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据结构
- 机器人类型: so_follower
- 代码版本: v3.0
- 数据分块大小: 1000
- 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
数据特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作数据（关节位置） |
| observation.state | float32 | [6] | 6维状态观测（关节位置） |
| observation.images.side | video | [480, 640, 3] | 侧方摄像头视频（AV1编码，15 FPS） |
| observation.images.up | video | [480, 640, 3] | 上方摄像头视频（AV1编码，15 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 |
动作/状态空间
action和observation.state均包含以下6个关节维度:- shoulder_pan.pos
- shoulder_lift.pos
- elbow_flex.pos
- wrist_flex.pos
- wrist_roll.pos
- gripper.pos
数据划分
- 训练集: 片段 0 至 59（共60个片段，无验证/测试集划分）
可视化
- 可通过 LeRobot 可视化空间 交互式预览数据集。
引用信息
- 当前引用信息为
[More Information Needed]，尚未提供具体 BibTeX 条目。
