JAGS_v0_testing
收藏资源简介：
该数据集是使用LeRobot创建的机器人任务数据集，专门针对so100_follower机器人类型。数据集包含253个总剧集、245934个总帧和10个总任务，以.parquet文件格式存储数据，视频文件以.mp4格式存储，帧率为30fps。数据特征包括：动作（6维浮点数，代表肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪控制），观测状态（6维浮点数，对应相同的关节角度），顶部和侧面图像观测（分辨率为720x1280x3的视频数据，提供视觉信息），以及时间戳、帧索引、剧集索引、索引和任务索引等元数据。数据集用于机器人学习和控制任务，支持训练和评估算法。
This is a robotic task dataset developed using the LeRobot framework, specifically tailored for the so100_follower robot type. The dataset contains 253 total episodes, 245934 total frames, and 10 total tasks. The core data is stored in Parquet file format, while the accompanying video files are saved in MP4 format with a frame rate of 30fps. The data features include: actions (6-dimensional floating-point values representing shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper control), observation states (6-dimensional floating-point values corresponding to the same joint angles), top and side visual observations (video data with a resolution of 720×1280×3 that provides multi-view visual information), as well as metadata such as timestamps, frame index, episode index, data index, and task index. This dataset is intended for robotic learning and control tasks, and supports algorithm training and evaluation.
数据集概述：JAGS_v0_testing
- 数据集名称：JAGS_v0_testing
- 许可证：Apache-2.0
- 任务类别：机器人学 (Robotics)
- 创建工具：LeRobot (https://github.com/huggingface/lerobot)
- 机器人类型：so100_follower
数据集规模与结构
| 属性 | 数值 |
|---|---|
| 总片段数 (episodes) | 253 |
| 总帧数 (frames) | 245,934 |
| 总任务数 (tasks) | 10 |
| 块大小 (chunk size) | 1000 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
| 帧率 (fps) | 30 |
| 训练集划分 | 0:253 (全部用于训练) |
数据存储路径
- 数据文件：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征描述
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 6维动作：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| observation.state | float32 | [6] | 6维状态观测，命名与动作一致 |
| observation.images.top | video | [720, 1280, 3] | 顶部摄像头视频，分辨率720×1280，AV1编码，30 fps |
| observation.images.side | video | [720, 1280, 3] | 侧方摄像头视频，分辨率720×1280，AV1编码，30 fps |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
其他信息
- 主页、论文、引用：当前均标记为“More Information Needed”，尚未提供。
