omy_f3m_left_tracking
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专门用于机器人任务。数据集包含9个总集数，1738个总帧数，以及1个总任务。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为10fps。数据集的结构包括多个特征：时间戳（float32类型，形状为[1]）、帧索引（int64类型，形状为[1]）、集索引（int64类型，形状为[1]）、索引（int64类型，形状为[1]）、任务索引（int64类型，形状为[1]）、观察图像（视频类型，来自左腕摄像头，形状为[480, 640, 3]，高度480像素，宽度640像素，3个通道，使用libx264编解码器和yuv420p像素格式）、观察状态（float32类型，形状为[7]，包括7个关节状态：joint1到joint6以及rh_r1_joint）、动作（float32类型，形状为[7]，同样包括7个关节动作）。数据集的分割为训练集，覆盖所有集（0:9）。数据路径和视频路径分别指向parquet文件和mp4视频文件。
This is a robotics dataset created using LeRobot, specifically tailored for robotic tasks. The dataset includes 9 total episodes, 1738 total frames, and 1 single task. It stores structured data in Parquet format, with a total size of 100 MB, while the accompanying video file has a size of 200 MB, running at a frame rate of 10 fps. The dataset structure encompasses the following features: 1. Timestamp: float32 type, with shape [1] 2. Frame index: int64 type, with shape [1] 3. Episode index: int64 type, with shape [1] 4. Index: int64 type, with shape [1] 5. Task index: int64 type, with shape [1] 6. Observation image (video stream captured from the left-wrist camera, with shape [480, 640, 3], 480 pixels in height, 640 pixels in width, 3 color channels, using the libx264 codec and yuv420p pixel format) 7. Observation state: float32 type, with shape [7], containing 7 joint states: joint1 to joint6 and rh_r1_joint 8. Action: float32 type, with shape [7], also including 7 joint actions The dataset is split into the training set, covering all episodes (0:9). The data path and video path respectively point to the Parquet file and MP4 video file.
数据集概况
- 数据集名称: omy_f3m_left_tracking
- 提供者: AivexRoboticsGroup
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, omy_f3m_left, robotis
- 创建工具: LeRobot
数据集规模
- 总片段数 (Episodes): 9
- 总帧数 (Frames): 1738
- 总任务数 (Tasks): 1
- 帧率 (FPS): 10
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据集划分
- 训练集 (Train): 包含全部 9 个片段 (索引 0 至 8)
数据特征
每个样本包含以下字段：
| 字段名 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 片段索引 |
index |
int64 | (1,) | 样本索引 |
task_index |
int64 | (1,) | 任务索引 |
observation.images.left_cam_wrist |
video | (480, 640, 3) | 左腕相机图像 (视频, 编码: libx264, 色彩格式: yuv420p) |
observation.state |
float32 | (7,) | 机械臂状态 (7 个关节: joint1 至 joint6, rh_r1_joint) |
action |
float32 | (7,) | 机械臂动作 (7 个关节: joint1 至 joint6, rh_r1_joint) |
数据存储结构
- 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 - 块大小 (chunks_size): 1000
引用信息
- BibTeX: 待补充
