saipuneethgottam/pickplace_2views_200demos_new

该数据集是一个机器人操作数据集，专注于拾取和放置任务，包含200个演示（episodes），总帧数为105177。数据使用LeRobot工具创建，适用于机器人学习研究。数据集包含以下特征：动作数据为6维浮点数组，表示机器人关节位置（包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；观察状态数据同样为6维关节位置；图像观察来自三个摄像头（camera1和camera2分辨率为1280x720，camera3分辨率为640x480），均为视频格式，帧率30fps，编码为av1。数据集还包括时间戳、帧索引、episode索引、任务索引等元数据。机器人类型为so_follower，数据以Parquet文件格式存储，总数据大小约100MB，视频文件大小约200MB。数据集仅包含训练分割（0:200），许可证为Apache-2.0。--- license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- 本数据集由LeRobot构建，相关开发仓库可参见：<a href="https://github.com/huggingface/lerobot">https://github.com/huggingface/lerobot</a>。 <a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=saipuneethgottam/pickplace_2views_200demos_new"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg" alt="可视化本数据集（亮色模式）"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg" alt="可视化本数据集（暗色模式）"/> </a> ## 数据集描述 - **主页：** [更多信息待补充] - **论文：** [更多信息待补充] - **许可证：** Apache-2.0 ## 数据集结构 `meta/info.json` 文件内容如下： json { "codebase_version": "v3.0", "fps": 30, "features": { "action": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.state": { "dtype": "float32", "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos" ], "shape": [ 6 ] }, "observation.images.camera1": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.camera2": { "dtype": "video", "shape": [ 720, 1280, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 720, "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.camera3": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } }, "total_episodes": 200, "total_frames": 105177, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "robot_type": "so_follower", "splits": { "train": "0:200" } } ## 引用 **BibTeX格式：** bibtex [更多信息待补充]