eval_battery_180
收藏资源简介：
该数据集使用LeRobot工具创建，专注于机器人学任务，具体涉及一个名为so_follower的机器人类型。数据集包含1个任务、1个完整片段和737个帧，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据结构包括动作、观测状态、图像观测（顶部和侧面视角）、时间戳、帧索引、片段索引、索引和任务索引等特征。动作和观测状态特征均为6维浮点数组，对应机器人的关节位置（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）。图像观测为视频格式，分辨率为480x640，3通道，采用av1编解码器。数据集以Apache 2.0许可证发布。
This dataset is created using the LeRobot toolkit, focusing on robotics tasks, specifically involving a robot type named so_follower. It contains 1 task, 1 complete episode, and 737 frames, with a total data file size of 100 MB and a video file size of 200 MB, with a frame rate of 30 fps. The data structure includes features such as actions, observation states, image observations (top and side viewpoints), timestamps, frame indices, episode indices, sample indices, and task indices. Both the action and observation state features are 6-dimensional floating-point arrays, corresponding to the robot's joint positions including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist roll, and gripper position. The image observations are in video format, with a resolution of 480×640, 3 channels, and use the AV1 codec. This dataset is released under the Apache 2.0 license.
数据集概述
数据集名称: eval_battery_180
许可证: Apache-2.0
任务类别: 机器人（Robotics）
标签: LeRobot
数据集来源与创建
数据集结构
| 属性 | 值 |
|---|---|
| 代码库版本 | v3.0 |
| 机器人类型 | so_follower |
| 总回合数 (Episodes) | 1 |
| 总帧数 (Frames) | 737 |
| 总任务数 (Tasks) | 1 |
| 数据块大小 | 1000 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
| 帧率 (FPS) | 30 |
| 数据分割 | 训练集（train）：0:1 |
数据特征
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 机器人动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 机器人状态：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.images.top | video | [480, 640, 3] | 顶部摄像头图像：AV1编码，30 FPS，480x640，3通道 |
| observation.images.side | video | [480, 640, 3] | 侧面摄像头图像：AV1编码，30 FPS，480x640，3通道 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 回合索引 |
| index | int64 | [1] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据文件路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 论文引用：暂无（More Information Needed）
