FR5_task3_turn_the_sliver_air_valve_45_degress_counterclockwise
收藏资源简介：
该数据集是一个机器人操作数据集，专门用于训练和评估机器人执行特定任务：逆时针旋转银色空气阀45度。数据集使用LeRobot平台创建，包含10个完整的episodes，总计7121帧数据，覆盖单一任务。数据以parquet文件格式存储，视频文件为mp4格式。数据集特征包括机器人的动作（7维浮点数组，表示关节1到6的位置以及夹爪位置）、观察状态（同样为7维浮点数组，反映关节和夹爪的实时位置）、以及来自三个摄像头的图像观测：左上摄像头、右上摄像头和手部摄像头，每个摄像头提供480x640分辨率的RGB视频（3通道），帧率为20fps。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为fairino_follower，数据分块存储，每块大小1000帧，数据文件总大小约100MB，视频文件总大小约200MB。该数据集适用于机器人学习、模仿学习或强化学习研究，旨在促进机器人操作技能的开发。
This dataset is a robotic manipulation dataset specifically developed for training and evaluating robots to perform a dedicated task: rotating a silver air valve counterclockwise by 45 degrees. It was created using the LeRobot platform, consisting of 10 complete episodes with a total of 7121 frames of data, focusing on a single task. The dataset’s data is stored in Parquet file format, while the accompanying video files are in MP4 format. The dataset features include robot actions (a 7-dimensional floating-point array representing the positions of joints 1 through 6 and the gripper position), observation states (also a 7-dimensional floating-point array that reflects the real-time positions of the joints and the gripper), as well as image observations from three cameras: the top-left camera, top-right camera, and hand camera. Each camera provides 3-channel RGB videos with a resolution of 480×640 and a frame rate of 20 fps. Additionally, the dataset contains metadata including timestamps, frame indices, episode indices, general indexes, and task indices. The robot model used is fairino_follower. The data is stored in chunks, with each chunk containing 1000 frames. The total size of the data files is approximately 100 MB, and the total size of the video files is around 200 MB. This dataset is suitable for research in robotic learning, imitation learning, and reinforcement learning, with the goal of facilitating the development of robotic manipulation skills.
数据集概述
- 数据集名称: FR5_task3_turn_the_sliver_air_valve_45_degress_counterclockwise
- 数据集地址: https://huggingface.co/datasets/coport-uni/FR5_task3_turn_the_sliver_air_valve_45_degress_counterclockwise
- 许可协议: Apache-2.0
- 任务类型: 机器人 (robotics)
- 标签: LeRobot
数据集规模
- 总片段数 (episodes): 10
- 总帧数 (frames): 7121
- 总任务数 (tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 20
- 分块大小 (chunks_size): 1000
数据集划分
- 训练集 (train): 所有10个片段（索引0至9）
数据集内容与结构
- 机器人类型: fairino_follower
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet(Parquet格式) - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4(MP4格式，AV1编码)
数据特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (7,) | 机器人动作：6个关节位置 + 夹爪位置 |
observation.state |
float32 | (7,) | 机器人观测状态：6个关节位置 + 夹爪位置 |
observation.images.top_left |
video | (480, 640, 3) | 左上摄像头视频，分辨率480x640，RGB，20 FPS，AV1编码 |
observation.images.top_right |
video | (480, 640, 3) | 右上摄像头视频，分辨率480x640，RGB，20 FPS，AV1编码 |
observation.images.hand |
video | (480, 640, 3) | 手部摄像头视频，分辨率480x640，RGB，20 FPS，AV1编码 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 片段索引 |
index |
int64 | (1,) | 索引 |
task_index |
int64 | (1,) | 任务索引 |
数据集用途
该数据集通过LeRobot创建，适用于机器人操控任务的模仿学习、强化学习或行为克隆等研究，具体任务为将银色空气阀逆时针旋转45度。
引用
BibTeX引用信息目前暂缺。
