tube_A3_to_B3_v1_20260625_200552
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含机器人执行任务时的动作和观察数据，具体特征包括6维浮点型动作（如肩部、肘部、手腕和夹爪的位置）、6维浮点型观察状态（与动作相同）、以及来自前部、左侧和腕部摄像头的视频观察（分辨率为480x640，3通道，帧率30fps）。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总共有10个episodes、4482帧，数据文件大小为100MB，视频文件大小为200MB，机器人类型为so_follower，主要用于训练目的。
This is a robotics dataset developed using the LeRobot toolkit. It encompasses action and observation data collected during robotic task execution. Specific modalities include 6-dimensional floating-point actions (e.g., positions of the shoulder, elbow, wrist and gripper), 6-dimensional floating-point observation states matching the action dimensions, and video observations captured by front, left and wrist-mounted cameras (resolution: 480×640, 3-channel, 30 fps frame rate). Additionally, the dataset provides metadata such as timestamps, frame indices, episode indices and task indices. In total, the dataset contains 10 episodes and 4482 frames, with a total data file size of 100 MB and a total video file size of 200 MB. The target robot platform is so_follower, and this dataset is primarily intended for training applications.
数据集概览
- 数据集名称: tube_A3_to_B3_v1_20260625_200552
- 许可证: Apache-2.0
- 任务类型: 机器人技术 (Robotics)
- 创建工具: LeRobot
数据集规模
- 总片段数 (Episodes): 10
- 总帧数 (Frames): 4482
- 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
- 划分: 训练集 (train) 包含所有 10 个片段
数据结构
动作 (action)
- 数据类型: float32
- 形状: [6]
- 维度名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观测状态 (observation.state)
- 数据类型: float32
- 形状: [6]
- 维度名称: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观测图像 (observation.images)
- 三个摄像头视角: front (前视), left (左视), wrist (腕部)
- 图像尺寸: 480 x 640 像素
- 颜色通道: 3 (RGB)
- 视频编码: AV1
- 帧率: 30 FPS
其他特征
- 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]
机器人类型
- 机器人型号: so_follower
