record-project-v2-recovery
收藏资源简介：
该数据集是一个使用LeRobot创建的机器人学领域数据集，专门设计用于Omx Follower机器人。它包含40个总集数、52870个总帧数和1个总任务。数据以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集特征包括动作和观察：动作和状态观察各包含6个关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置），观察还包括来自前摄像头和腕部摄像头的视频图像，分辨率为480x640，3通道，视频编码为av1。此外，数据集还包含时间戳、帧索引、集索引、索引和任务索引等元数据。数据集仅提供训练分割，覆盖所有集。
This dataset is a robotics dataset created using LeRobot, specifically designed for the Omx Follower robot. It includes 40 total episodes, 52870 total frames, and 1 overall task. The data is stored in Parquet file format, with a total data file size of 100 MB, total video file size of 200 MB, and a frame rate of 30 fps. The dataset features consist of actions and observations: both action and state observations contain 6 joint positions, such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The observations also include video images from the front-facing camera and the wrist-mounted camera, with a resolution of 480x640, 3 channels, and the video is encoded with av1. Furthermore, the dataset contains metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset only provides a training split, covering all episodes.
数据集概述
- 名称：record-project-v2-recovery
- 许可证：Apache-2.0
- 任务类别：机器人学 (Robotics)
- 标签：LeRobot
- 数据集地址：https://huggingface.co/datasets/2usang/record-project-v2-recovery
数据集规模
- 总片段数 (Episodes)：40
- 总帧数 (Frames)：52870
- 总任务数 (Tasks)：1
- 帧率 (FPS)：30
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 分块大小 (Chunks Size)：1000
数据集结构
数据划分
- 训练集 (Train)：片段 0 至 39 (共 40 个片段)
机器人类型
- 机器人型号：omx_follower
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (6,) | 包含6个关节的动作指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | (6,) | 包含6个关节的状态观测：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.images.front | video | (480, 640, 3) | 前端摄像头视频，分辨率480x640，AV1编码，30FPS |
| observation.images.wrist | video | (480, 640, 3) | 腕部摄像头视频，分辨率480x640，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 |
数据文件组织
- 数据文件路径模式：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径模式：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 配置文件：
meta/info.json，包含完整的元数据结构描述。
