eval_exp9_sc1var_grasp_the_green_box_20260528-181805
收藏资源简介：
该数据集是使用LeRobot创建的机器人学数据集，专门用于机器人控制任务。数据集包含一个名为so_follower的机器人类型，总共有1个训练集片段，包含2568帧数据，帧率为30fps。数据特征包括动作（action）和观察状态（observation.state），其中动作和观察状态都包含6个浮点型关节位置数据（如肩部平移、肩部抬升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）。观察数据还包括来自三个摄像头（前视、顶部和夹爪）的视频图像，每个视频分辨率为480x640像素，3个通道，使用AV1编解码器。此外，数据集还包含时间戳、帧索引、片段索引、索引和任务索引等元数据。数据以parquet格式存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。
This is a robotics dataset developed using LeRobot, exclusively intended for robotic control tasks. The dataset features a robotic type named so_follower, with a total of 1 training episode containing 2568 frames at 30 fps. The data features consist of action and observation.state, where both the action and observation.state include 6 floating-point joint position values: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. In addition to the joint data, the observation also contains video footage captured by three cameras (front-facing, top-down, and gripper-mounted), each with a resolution of 480×640 pixels, 3 color channels, and encoded with the AV1 codec. The dataset also includes supplementary metadata such as timestamps, frame index, episode index, sample index, and task index. The tabular data is stored in Parquet format, while the video files are stored in MP4 format. The total size of the tabular data files is 100 MB, and the total size of the video files is 200 MB.
数据集概述
- 数据集名称:
kunhsiang/eval_exp9_sc1var_grasp_the_green_box_20260528-181805 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: LeRobot
- 可视化入口: 可视化该数据集
数据集结构
- 代码库版本: v3.0
- 机器人类型: so_follower
- 总片段数: 1
- 总帧数: 2568
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 数据划分: 所有数据 (0:1) 作为训练集
数据特征
数据集包含以下特征字段：
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作指令，包含6个关节位置 |
observation.state |
float32 | [6] | 机器人观测状态，包含6个关节位置 |
observation.images.front |
video | [480, 640, 3] | 前视摄像头视频，分辨率480x640，AV1编码，30 FPS |
observation.images.top |
video | [480, 640, 3] | 顶部摄像头视频，分辨率480x640，AV1编码，30 FPS |
observation.images.gripper |
video | [480, 640, 3] | 夹爪摄像头视频，分辨率480x640，AV1编码，30 FPS |
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 |
动作和状态命名空间
- 关节名称:
shoulder_pan.pos,shoulder_lift.pos,elbow_flex.pos,wrist_flex.pos,wrist_roll.pos,gripper.pos
数据存储路径
- 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
