laundry
收藏资源简介：
该数据集由LeRobot创建，属于机器人领域。数据集包含20个集，共22453帧，涉及1个任务。数据以parquet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。数据集包含动作、观察状态、两个摄像头的图像观察、时间戳、帧索引、集索引、索引和任务索引等特征信息。动作和观察状态包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹持器位置等信息。图像观察来自两个摄像头，分辨率为480x640，3通道，视频编解码器为av1，像素格式为yuv420p，无音频。
This dataset was created by LeRobot and belongs to the robotics domain. It contains 20 episodes with a total of 22453 frames, covering a single task. The data is stored in Parquet format, with a total data file size of 100 MB and a total video file size of 200 MB, and the frame rate is 30 fps. The dataset includes feature information such as actions, observation states, image observations from two cameras, timestamps, frame indices, episode indices, sample indices, and task indices. Actions and observation states include details such as shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position. The image observations are captured by two cameras, with a resolution of 480×640, 3 channels, using the AV1 video codec, with a pixel format of YUV420p, and no audio is included.
数据集概述
基本信息
- 数据集名称: laundry
- 创建工具: LeRobot (https://github.com/huggingface/lerobot)
- 许可证: Apache 2.0
- 任务类别: 机器人学
- 标签: LeRobot
数据集结构
- 总任务数: 1
- 总情节数: 20
- 总帧数: 22453
- 数据块大小: 1000
- 帧率: 30 fps
- 数据文件总大小: 100 MB
- 视频文件总大小: 200 MB
- 代码库版本: v3.0
- 机器人类型: so_follower
- 数据分割: 训练集 (0:20)
数据文件
- 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
特征字段
动作
- 数据类型: float32
- 形状: [6]
- 名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观测状态
- 数据类型: float32
- 形状: [6]
- 名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观测图像 (cam_0)
- 数据类型: video
- 形状: [480, 640, 3]
- 名称: height, width, channels
- 视频信息:
- 高度: 480
- 宽度: 640
- 编解码器: av1
- 像素格式: yuv420p
- 是否为深度图: false
- 帧率: 30 fps
- 通道数: 3
- 是否包含音频: false
观测图像 (cam_3)
- 数据类型: video
- 形状: [480, 640, 3]
- 名称: height, width, channels
- 视频信息:
- 高度: 480
- 宽度: 640
- 编解码器: av1
- 像素格式: yuv420p
- 是否为深度图: false
- 帧率: 30 fps
- 通道数: 3
- 是否包含音频: false
其他字段
- timestamp: 数据类型 float32, 形状 [1]
- frame_index: 数据类型 int64, 形状 [1]
- episode_index: 数据类型 int64, 形状 [1]
- index: 数据类型 int64, 形状 [1]
- task_index: 数据类型 int64, 形状 [1]
可视化
- 可视化空间: https://huggingface.co/spaces/lerobot/visualize_dataset?path=Jeevan-HM/laundry
引用信息
- 论文: 未提供
- BibTeX: 未提供
