stevenworkspace/eval_take_mvactd_31
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专为移动AI机器人（mobileai_robot）设计。它包含1个episode、1076个帧和1个任务，数据以parquet格式存储。数据集的特征包括动作数据（如左右机械臂的关节位置和速度）和观测数据，其中观测包含状态信息（如关节位置和速度）以及来自三个摄像头的视频图像：一个高位摄像头和两个手腕摄像头（左腕和右腕），所有视频分辨率均为480x640，帧率为30fps，采用av1编码。此外，数据集还提供时间戳、帧索引、episode索引等元数据，适用于机器人控制、视觉感知和强化学习任务。
许可协议：Apache-2.0 任务类别： - 机器人学（robotics） 标签： - LeRobot（LeRobot） 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=stevenworkspace/eval_take_mvactd_31"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集说明 - **主页：** [更多信息待补充] - **论文：** [更多信息待补充] - **许可协议：** Apache-2.0 ## 数据集结构 `meta/info.json` 文件详情： json { "codebase_version": "v3.0", "robot_type": "mobileai_robot", "total_episodes": 1, "total_frames": 1076, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:1" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "action": { "dtype": "float32", "names": [ "left_joint_0.pos", "left_joint_1.pos", "left_joint_2.pos", "left_joint_3.pos", "left_joint_4.pos", "left_joint_5.pos", "left_left_carriage_joint.pos", "right_joint_0.pos", "right_joint_1.pos", "right_joint_2.pos", "right_joint_3.pos", "right_joint_4.pos", "right_joint_5.pos", "right_left_carriage_joint.pos", "x.vel", "theta.vel" ], "shape": [ 16 ] }, "observation.state": { "dtype": "float32", "names": [ "left_joint_0.pos", "left_joint_1.pos", "left_joint_2.pos", "left_joint_3.pos", "left_joint_4.pos", "left_joint_5.pos", "left_left_carriage_joint.pos", "right_joint_0.pos", "right_joint_1.pos", "right_joint_2.pos", "right_joint_3.pos", "right_joint_4.pos", "right_joint_5.pos", "right_left_carriage_joint.pos", "x.vel", "theta.vel" ], "shape": [ 16 ] }, "observation.images.cam_high": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_left_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_right_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } } } ## 引用 **BibTeX 格式：** bibtex [更多信息待补充]
