record-test
收藏资源简介：
该数据集使用LeRobot创建，专注于机器人学领域，具体针对omx_follower机器人类型。数据集包含1个episode，总计1793帧，涉及1个任务。数据以parquet文件格式存储，视频文件为MP4格式，帧率为30fps。数据集特征包括：动作和状态观测，均为6维浮点数组，对应机器人关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）；图像观测包括前置摄像头和腕部摄像头的视频数据，分辨率均为480x640像素，3通道颜色。此外，还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集适用于机器人控制和学习任务。
This dataset is constructed using LeRobot, targeting the robotics domain with a specific focus on the omx_follower robot type. It contains 1 episode, totaling 1793 frames, and covers 1 task. The core data is stored in Parquet file format, while the video files are in MP4 format with a frame rate of 30 fps. The dataset features include action and state observations, both 6-dimensional floating-point arrays, which correspond to the robot's joint positions such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation and gripper position. Image observations consist of video data from the front-facing camera and the wrist-mounted camera, both with a resolution of 480×640 pixels and 3-channel color. Additionally, metadata including timestamps, frame indices, episode indices, global indices and task indices are also provided. This dataset is applicable to robotic control and learning tasks.
数据集概述
- 数据集名称: record-test
- 数据集地址: https://huggingface.co/datasets/2usang/record-test
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集描述
该数据集使用 LeRobot 创建，提供了交互式可视化功能（可通过 可视化空间 查看）。
数据集结构
- 代码库版本: v3.0
- 机器人类型: omx_follower
- 总回合数: 1
- 总帧数: 1793
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 30
- 划分: 训练集 (train) 覆盖索引 0 到 1
特征
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
| action | float32 | [6] | 包含6个关节动作：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
| observation.state | float32 | [6] | 与动作相同的6个关节状态观测 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率480x640，编码AV1，帧率30 FPS |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率480x640，编码AV1，帧率30 FPS |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 回合索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据路径
- 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
引用信息
当前暂无可用的 BibTeX 引用信息。
