open_drawer_1_20260722_143840
收藏资源简介：
该数据集由LeRobot创建，专注于机器人任务，具体涉及一个名为open_drawer_1_20260722_143840的场景。数据集包含一个完整的episode，总计633帧，以30帧/秒的速率记录。数据特征包括机器人的动作（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，共6个浮点值）、观测状态（与动作相同的关节位置）、来自前置和顶部摄像头的图像观测（视频格式，分辨率为480x640，3通道RGB），以及时间戳、帧索引、episode索引、任务索引等元数据。机器人类型为so_follower，数据集以parquet文件格式存储，总大小约为300MB（数据文件100MB，视频文件200MB），适用于机器人控制、视觉导航等研究。
This dataset was created by LeRobot, focusing on robotic tasks, specifically targeting a scenario named open_drawer_1_20260722_143840. It contains one complete episode, with a total of 633 frames recorded at a rate of 30 frames per second. Data features include robot actions (shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position, totaling 6 floating-point values), observation states (the same joint positions as the actions), image observations from the front and top cameras (video format, 480x640 resolution, 3-channel RGB), as well as metadata such as timestamps, frame index, episode index, and task index. The robot type is so_follower. The dataset is stored in Parquet file format, with a total size of approximately 300 MB (100 MB for data files and 200 MB for video files), and is suitable for research in robotic control, visual navigation, and other related fields.
数据集概述
- 数据集名称:
open_drawer_1_20260722_143840 - 许可证: Apache-2.0
- 任务类别: 机器人学（robotics）
- 标签: LeRobot
- 创建方式: 使用 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 帧率: 30 FPS
- 机器人类型:
so_follower
特征
| 特征名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包括肩部、肘部、腕部及夹爪位置 |
observation.state |
float32 | [6] | 机器人状态，与动作维度一致 |
observation.images.front |
video | [480, 640, 3] | 前方摄像头视频，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 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 回合索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
统计信息
- 总回合数 (total_episodes): 1
- 总帧数 (total_frames): 633
- 总任务数 (total_tasks): 1
- 数据块大小 (chunks_size): 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 划分: 训练集
train: 0:1（全部数据用于训练）
数据路径
- 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
