test_fallo_camara
收藏资源简介：
这是一个由LeRobot创建的机器人技术数据集，包含50个episodes，总计30591帧数据，以25帧/秒的速率采集。数据集以.parquet文件和视频文件形式存储，总数据大小约为100MB，视频文件大小约为200MB。特征包括动作（9维浮点数组，表示机械臂的肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹持器位置，以及x、y和theta方向的速度）、观察状态（与动作相同的9维数组）、来自前部和腕部摄像头的图像观察（视频格式，分辨率为480x640，3通道RGB），以及时间戳、帧索引、episode索引、任务索引等元数据。机器人类型为lekiwi_client。该数据集适用于训练和评估机器人控制模型，特别针对需要视觉和动作反馈的任务。
This is a robotics dataset developed by LeRobot, consisting of 50 episodes with a total of 30591 frames collected at a frame rate of 25 fps. The dataset is stored in both .parquet files and video files, with an overall data size of around 100 MB, while the video files alone occupy approximately 200 MB. The dataset features include actions (a 9-dimensional floating-point array that encodes the shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, gripper position of the robotic arm, plus the velocities along the x, y, and theta directions), observation states (a 9-dimensional array matching the action dimensions), image observations captured by the front and wrist cameras (in video format with a resolution of 480x640 and 3-channel RGB), as well as metadata such as timestamps, frame indices, episode indices, and task indices. The corresponding robotic platform is lekiwi_client. This dataset is applicable for training and evaluating robotic control models, particularly for tasks that demand both visual and action feedback.
数据集概述
- 数据集名称: test_fallo_camara
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建方式: 使用 LeRobot 创建
数据集结构
- 机器人类型: lekiwi_client
- 帧率 (FPS): 25
- 总集数 (Episodes): 50
- 总帧数 (Frames): 30591
- 总任务数 (Tasks): 1
- 数据划分: 训练集 (train) 包含所有 50 集（索引 0-49）
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [9] | 9 维动作指令，包含机械臂关节位置 (arm_shoulder_pan/ lift/ elbow_flex/ wrist_flex/ wrist_roll/ gripper) 及移动底盘速度 (x.vel, y.vel, theta.vel) |
observation.state |
float32 | [9] | 9 维观测状态，与动作空间相同，包含机械臂关节位置和底盘速度 |
observation.images.front |
视频 (AV1 编码) | [480, 640, 3] | 前置摄像头 RGB 图像，分辨率 640×480，帧率 25 FPS |
observation.images.wrist |
视频 (AV1 编码) | [480, 640, 3] | 腕部摄像头 RGB 图像，分辨率 640×480，帧率 25 FPS |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 集索引 |
index |
int64 | [1] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
文件与存储
- 数据文件格式: Parquet，路径为
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件格式: MP4 (AV1 编码)，路径为
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 块大小 (Chunk size): 1000
引用信息
目前无具体论文或主页引用信息（标注为"More Information Needed"）。
