ykorkmaz/trial_426_10_eef

该数据集与机器人技术相关，包含多种特征，如动作、观察（状态和来自多个摄像头的图像）、时间戳、帧索引和情节索引。数据集还包括机器人末端执行器的位置、方向（四元数和欧拉角）以及摄像头位置的信息。数据集以情节、帧、任务和视频的形式组织，并使用parquet文件进行数据存储。元数据提供了每个特征的数据类型、形状和名称的具体信息。--- 许可证：apache-2.0 任务类别： - 机器人学 标签： - LeRobot (LeRobot) 配置项： - 配置名称：默认配置 数据文件：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 数据集说明 - **主页**：[更多信息待补充] - **论文**：[更多信息待补充] - **许可证**：Apache-2.0 ## 数据集结构 `meta/info.json`： json { "代码库版本": "v2.1", "特罗森子版本": "v1.0", "机器人类型": "trossen_ai_stationary（特罗森AI固定式机器人）", "总回合数": 1, "总帧数": 263, "总任务数": 1, "总视频数": 4, "总数据块数": 1, "数据块大小": 1000, "帧率": 30, "数据集划分": { "训练集": "0:1" }, "数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "动作（action）": { "数据类型": "float32", "形状": [14], "对应关节名称": ["left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "left_joint_6", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5", "right_joint_6"] }, "观测状态（observation.state）": { "数据类型": "float32", "形状": [14], "对应关节名称": ["left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "left_joint_6", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5", "right_joint_6"] }, "观测图像：顶置摄像头（observation.images.cam_high）": { "数据类型": "视频", "形状": [480, 640, 3], "维度名称": ["height", "width", "channels"], "详细信息": { "视频帧率": 30.0, "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测图像：下置摄像头（observation.images.cam_low）": { "数据类型": "视频", "形状": [480, 640, 3], "维度名称": ["height", "width", "channels"], "详细信息": { "视频帧率": 30.0, "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测图像：左腕摄像头（observation.images.cam_left_wrist）": { "数据类型": "视频", "形状": [480, 640, 3], "维度名称": ["height", "width", "channels"], "详细信息": { "视频帧率": 30.0, "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "观测图像：右腕摄像头（observation.images.cam_right_wrist）": { "数据类型": "视频", "形状": [480, 640, 3], "维度名称": ["height", "width", "channels"], "详细信息": { "视频帧率": 30.0, "视频高度": 480, "视频宽度": 640, "视频通道数": 3, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "是否包含音频": false } }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [1], "维度名称": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "回合索引（episode_index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "全局索引（index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "任务索引（task_index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "左末端执行器位置（obs_left_ee_position）": { "数据类型": "float32", "形状": [3], "维度名称": ["x", "y", "z"] }, "左末端执行器四元数（obs_left_ee_quat_xyzw）": { "数据类型": "float32", "形状": [4], "维度名称": ["qx", "qy", "qz", "qw"] }, "左末端执行器欧拉角（obs_left_ee_euler_xyz）": { "数据类型": "float32", "形状": [3], "维度名称": ["roll", "pitch", "yaw"] }, "右末端执行器位置（obs_right_ee_position）": { "数据类型": "float32", "形状": [3], "维度名称": ["x", "y", "z"] }, "右末端执行器四元数（obs_right_ee_quat_xyzw）": { "数据类型": "float32", "形状": [4], "维度名称": ["qx", "qy", "qz", "qw"] }, "右末端执行器欧拉角（obs_right_ee_euler_xyz）": { "数据类型": "float32", "形状": [3], "维度名称": ["roll", "pitch", "yaw"] }, "头部摄像头位置（obs_head_camera_position）": { "数据类型": "float32", "形状": [3], "维度名称": ["x", "y", "z"] }, "头部摄像头四元数（obs_head_camera_quat_xyzw）": { "数据类型": "float32", "形状": [4], "维度名称": ["qx", "qy", "qz", "qw"] }, "动作对应的左末端执行器位置（action_left_ee_position）": { "数据类型": "float32", "形状": [3], "维度名称": ["x", "y", "z"] }, "动作对应的左末端执行器四元数（action_left_ee_quat_xyzw）": { "数据类型": "float32", "形状": [4], "维度名称": ["qx", "qy", "qz", "qw"] }, "动作对应的左末端执行器欧拉角（action_left_ee_euler_xyz）": { "数据类型": "float32", "形状": [3], "维度名称": ["roll", "pitch", "yaw"] }, "动作对应的右末端执行器位置（action_right_ee_position）": { "数据类型": "float32", "形状": [3], "维度名称": ["x", "y", "z"] }, "动作对应的右末端执行器四元数（action_right_ee_quat_xyzw）": { "数据类型": "float32", "形状": [4], "维度名称": ["qx", "qy", "qz", "qw"] }, "动作对应的右末端执行器欧拉角（action_right_ee_euler_xyz）": { "数据类型": "float32", "形状": [3], "维度名称": ["roll", "pitch", "yaw"] } } } ## 引用 **BibTeX格式：** bibtex [更多信息待补充]