blue3
收藏资源简介：
该数据集是一个用于机器人控制任务的机器人控制数据集，使用LeRobot工具创建。数据集包含92个训练集片段，总帧数为58109帧，数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据格式为Parquet文件，视频格式为MP4。数据集的特征包括动作（action）和观察（observation）：动作由6个浮点数值组成，对应机器人关节位置（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）；观察包括状态（state）和图像（images），状态同样包含6个关节位置，图像包括前视（front）和腕部（wrist）摄像头视频，分辨率为480x640，3通道RGB。其他特征包括时间戳、帧索引、片段索引、索引和任务索引。数据集基于Apache 2.0许可证发布。
This is a robotic control dataset constructed using the LeRobot toolkit. The dataset comprises 92 training episodes, with a total of 58,109 frames. The aggregate size of the data files is 100 MB, while the video files total 200 MB, with a frame rate of 30 fps. All data is stored in Parquet format, and the video content uses the MP4 container format. The dataset includes two primary modalities: action and observation. The action modality consists of 6 floating-point values corresponding to the robot's joint positions, namely shoulder pan, shoulder lift, elbow flexion, wrist flexion, wrist roll, and gripper position. The observation modality encompasses state and image data: the state also contains 6 joint position values, while the image data comprises video streams from the front-facing and wrist-mounted cameras, with a resolution of 480×640 and 3-channel RGB color space. Additional metadata features include timestamps, frame index, episode index, sample index, and task index. This dataset is intended for robotic control tasks and is released under the Apache 2.0 open-source license.
数据集概述
- 数据集名称: blue3
- 许可证: Apache-2.0
- 任务类别: 机器人 (robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
- 可视化: 可通过 此空间 可视化数据集
数据集结构
- 代码库版本: v3.0
- 机器人类型: omx_follower
- 总集数 (episodes): 92
- 总帧数 (frames): 58,109
- 总任务数: 1
- 块大小 (chunks size): 1,000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (fps): 30
- 数据集划分: 全部 92 集用于训练 (
train: 0:92)
特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (6,) | 机器人动作指令，包含 shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.state |
float32 | (6,) | 机器人状态观测，维度与动作相同 |
observation.images.front |
video | (480, 640, 3) | 前置摄像头视频，AV1编码，30fps，无音频 |
observation.images.wrist |
video | (480, 640, 3) | 腕部摄像头视频，AV1编码，30fps，无音频 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 集索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据文件路径
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
