board_insertion_only_better_view_left_arm_only_success
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于机器人操作任务。数据集包含88个episodes和29061帧数据，以30帧每秒的速率采集。数据特征包括观察状态（19维浮点数组，表示左臂7个关节和左夹爪12个关节的位置）、动作（8维浮点数组，控制左臂7个关节和左夹爪）、以及来自三个摄像头的图像观察：头部摄像头（分辨率1280x720，3通道）、左腕摄像头和右腕摄像头（分辨率均为424x240，3通道）。此外，还包含时间戳、帧索引、episode索引等元数据。数据以Parquet文件格式存储，视频以MP4格式存储，总数据大小约为100MB，视频文件大小约为200MB。数据集适用于机器人控制、模仿学习或强化学习任务。
This is a robotics dataset developed using the LeRobot toolkit, focusing on robotic manipulation tasks. It contains 88 episodes and 29,061 frames, collected at a frame rate of 30 frames per second. The dataset includes the following features: observation states (19-dimensional floating-point arrays representing the positions of 7 joints of the left arm and 12 joints of the left gripper), actions (8-dimensional floating-point arrays for controlling the 7 joints of the left arm and the left gripper), and image observations from three cameras: the head camera (resolution: 1280×720, 3 channels), the left wrist camera and the right wrist camera (both with a resolution of 424×240, 3 channels). Additionally, it encompasses metadata such as timestamps, frame indices, and episode indices. The structured data is stored in Parquet file format, while the videos are stored in MP4 format. The total size of the structured dataset is approximately 100 MB, and the total size of the video files is around 200 MB. This dataset is suitable for robotic control, imitation learning, or reinforcement learning tasks.
数据集概述
- 数据集名称: board_insertion_only_better_view_left_arm_only_success
- 许可证: Apache-2.0
- 任务类别: 机器人 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
- 数据集可视化: 可视化链接
数据集结构
- 总集数: 88
- 总帧数: 29,061
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 分割: 训练集 (train) 包含全部 88 集 (索引 0 至 87)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
observation.state |
float32 | (19,) | 包含 7 个左臂关节位置和 12 个左夹爪关节位置 |
action |
float32 | (8,) | 包含 7 个左臂关节动作和 1 个左夹爪动作 |
observation.images.head |
video | (3, 720, 1280) | 头部摄像头视频，分辨率 1280×720，AV1 编码 |
observation.images.left_wrist |
video | (3, 240, 424) | 左腕摄像头视频，分辨率 424×240，AV1 编码 |
observation.images.right_wrist |
video | (3, 240, 424) | 右腕摄像头视频，分辨率 424×240，AV1 编码 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 集索引 |
index |
int64 | (1,) | 索引 |
task_index |
int64 | (1,) | 任务索引 |
数据格式
- 数据文件路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 代码库版本: v3.0
- 块大小: 1000
引用
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