eval_demo_original

该数据集是一个用于机器人学任务的数据集，专门针对so_follower机器人类型。它包含3个完整的情节（episodes），总计909帧数据，覆盖1个任务。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。数据集的特征包括：动作数据（如肩部、肘部、腕部和抓取器的位置）、观测状态（与动作相同的关节位置）、以及来自多个视角的图像观测（前视、侧视1和侧视2），每个图像分辨率为480x640像素，3通道，视频编码为av1。此外，还包含时间戳、帧索引、情节索引等元数据。数据集使用Apache 2.0许可证，并可通过LeRobot工具创建和可视化。This dataset is tailored for robotics tasks, specifically targeting the so_follower robot type. It consists of 3 complete episodes, totaling 909 frames of data across one single task. All data is stored in Parquet format, with the total size of the data files being 100 MB, while the total size of the video files is 200 MB, and the frame rate is 30 fps. Key features of the dataset include: action data (e.g., positions of the shoulder, elbow, wrist, and gripper), observation states (matching the joint positions used in the action data), and image observations from three viewpoints: front view, side view 1, and side view 2. Each image has a resolution of 480×640 pixels with 3 color channels, and the video is encoded using AV1. Additionally, the dataset contains metadata such as timestamps, frame indices, and episode indices. The dataset is licensed under Apache 2.0, and can be created and visualized using the LeRobot tool.

原始信息汇总

数据集概述

• 数据集名称: eval_demo_original
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot

数据集规模

• 总片段数: 3
• 总帧数: 909
• 总任务数: 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据分块大小: 1000

数据集结构

• 机器人类型: so_follower
• 代码库版本: v3.0
• 数据路径格式: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径格式: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
• 数据划分: 仅包含训练集（train: 0:3）

特征

• action (动作):

  • 数据类型: float32
  • 形状: [6]
  • 包含: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

• observation.state (观察状态):

  • 数据类型: float32
  • 形状: [6]
  • 包含: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos

• observation.images.front (前置摄像头图像):

  • 数据类型: video
  • 形状: [480, 640, 3]
  • 编码: AV1
  • 帧率: 30 FPS

• observation.images.side (侧方摄像头图像):

  • 数据类型: video
  • 形状: [480, 640, 3]
  • 编码: AV1
  • 帧率: 30 FPS

• observation.images.side2 (第二侧方摄像头图像):

  • 数据类型: video
  • 形状: [480, 640, 3]
  • 编码: AV1
  • 帧率: 30 FPS

• timestamp (时间戳): float32, 形状 [1]

• frame_index (帧索引): int64, 形状 [1]

• episode_index (片段索引): int64, 形状 [1]

• index (索引): int64, 形状 [1]

• task_index (任务索引): int64, 形状 [1]

创建工具

该数据集使用 LeRobot 创建。