0514_organize_screwdriver_4
收藏资源简介：
该数据集是使用LeRobot创建的，专为机器人学任务设计。数据集包含28个总集数，16084个总帧数，涉及一个总任务。数据以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集结构包括训练分割（0:28）。特征包括动作数据（12个浮点数，表示左右机械臂的12个关节位置）、观察状态（同样包含12个关节位置）、来自三个摄像头（左腕、右腕、右顶部）的图像观察（每个图像为480x640x3的视频数据，使用av1编解码器）、时间戳、帧索引、集索引、索引和任务索引。机器人类型为bi_so_follower，可能表示双机械臂跟随系统。数据集适用于机器人控制、视觉感知和强化学习等应用。
This dataset was created using LeRobot and is specifically designed for robotics tasks. It contains 28 total episodes, 16084 total frames, and covers a single task. The data is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB, at a frame rate of 30 fps. The dataset structure includes a training split (0:28). The features include action data (12 floating-point numbers representing the 12 joint positions of the left and right robotic arms), observation states (also containing 12 joint positions), image observations from three cameras (left wrist, right wrist, and right top), where each image is 480x640x3 video data using the AV1 codec, along with timestamps, frame indices, episode indices, sample indices, and task indices. The robot type is bi_so_follower, which likely refers to a dual-arm follower system. This dataset is suitable for applications such as robot control, visual perception, and reinforcement learning.
数据集概述
- 数据集名称: 0514_organize_screwdriver_4
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 许可协议: Apache-2.0
- 数据集主页: [More Information Needed]
- 相关论文: [More Information Needed]
数据集规模
- 总片段数: 28
- 总帧数: 16,084
- 总任务数: 1
- 帧率: 30 fps
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据集结构
- 代码版本: v3.0
- 机器人类型: bi_so_follower
- 数据分割: 仅训练集 (train: 0:28)
- 数据文件格式: Parquet
- 视频文件格式: MP4
特征说明
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [12] | 左右臂肩、肘、腕、夹爪的位置动作 |
| observation.state | float32 | [12] | 左右臂肩、肘、腕、夹爪的状态观测 |
| observation.images.left_wrist | 视频 | (480, 640, 3) | 左腕摄像头视频（AV1编码，30fps） |
| observation.images.right_wrist | 视频 | (480, 640, 3) | 右腕摄像头视频（AV1编码，30fps） |
| observation.images.right_top | 视频 | (480, 640, 3) | 右上方摄像头视频（AV1编码，30fps） |
| 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 |
引用信息
BibTeX: [More Information Needed]
