calvin_calvin_debug_dataset
收藏资源简介：
该数据集是通过LeRobot创建的，主要用于机器人技术领域。数据集包含多个特征，如观察图像（静态RGB和夹持器RGB）、状态（包括TCP位置、方向、夹持器开口宽度、关节位置等）、动作（TCP位置、方向、夹持器动作等）、时间戳、帧索引、集索引、索引和任务索引等。数据集的具体信息包括代码库版本为v2.1，机器人类型为franka_panda，总集数为9，总帧数为503，总任务数为9，总视频数为18，总块数为1，块大小为1000，帧率为10fps。数据路径和视频路径的详细信息也包含在内。
This dataset was created via LeRobot, and is primarily intended for the field of robotics. It includes multiple features, such as observation images (static RGB and gripper RGB), states (including TCP position, orientation, gripper opening width, joint positions, etc.), actions (TCP position, orientation, gripper movements, etc.), timestamps, frame indices, set indices, overall indices, and task indices. Specific details of the dataset are as follows: the codebase version is v2.1, the robot type is franka_panda, the total number of sets is 9, the total number of frames is 503, the total number of tasks is 9, the total number of videos is 18, the total number of chunks is 1, the chunk size is 1000, the frame rate is 10fps, and detailed information for data paths and video paths is also included.
数据集概述
基本信息
- 许可证: apache-2.0
- 任务类别: 机器人学
- 标签: LeRobot
- 代码库版本: v2.1
- 机器人类型: franka_panda
数据集结构
- 总集数: 9
- 总帧数: 503
- 总任务数: 9
- 总视频数: 18
- 总块数: 1
- 块大小: 1000
- 帧率: 10 fps
- 分割: 训练集 (0:9)
数据文件
- 数据路径:
data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频路径:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
特征描述
观察数据
-
observation.image.rgb_static
- 类型: 视频
- 形状: [200, 200, 3]
- 帧率: 10 fps
- 视频编码: av1
- 像素格式: yuv420p
- 音频: 无
-
observation.image.rgb_gripper
- 类型: 视频
- 形状: [84, 84, 3]
- 帧率: 10 fps
- 视频编码: av1
- 像素格式: yuv420p
- 音频: 无
-
observation.state
- 类型: float64
- 形状: [15]
- 字段:
- tcp_position_x
- tcp_position_y
- tcp_position_z
- tcp_orientation_x
- tcp_orientation_y
- tcp_orientation_z
- gripper_opening_width
- arm_joint_positions_0 到 arm_joint_positions_6
- gripper_action
动作数据
- action
- 类型: float64
- 形状: [7]
- 字段:
- tcp_position_x
- tcp_position_y
- tcp_position_z
- tcp_orientation_x
- tcp_orientation_y
- tcp_orientation_z
- gripper_action
其他数据
- timestamp: float32, 形状 [1]
- frame_index: int64, 形状 [1]
- episode_index: int64, 形状 [1]
- index: int64, 形状 [1]
- task_index: int64, 形状 [1]
引用
- BibTeX: [More Information Needed]
