0718A-green-block-circle
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot工具创建。数据集包含32个episodes，总计28736帧，帧率为30fps。数据特征包括机器人动作（6自由度关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（同样为6自由度关节位置）、以及来自前视和腕部摄像头的图像观测（分辨率480x640，RGB三通道，30fps视频格式）。此外，数据集还包含时间戳、帧索引、episode索引、总索引和任务索引等元数据。机器人类型为so_follower。数据集以Parquet文件格式存储，视频以MP4格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集用于机器人学习和控制任务，支持训练分割（所有32个episodes用于训练）。
This is a robotic manipulation dataset developed with the LeRobot toolkit. It contains 32 episodes, with a total of 28736 frames at a frame rate of 30 fps. The dataset includes robotic actions (6-degree-of-freedom joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (also 6-degree-of-freedom joint positions), and image observations captured by a front-facing camera and a wrist-mounted camera. The images have a resolution of 480×640, 3-channel RGB, and are stored as 30 fps MP4 videos. Additionally, the dataset provides metadata including timestamps, frame indices, episode indices, global indices, and task indices. The robotic platform used is so_follower. The dataset is stored in Parquet file format, while the video files are in MP4 format. The total size of the dataset files is 100 MB, and the total size of the video files is 200 MB. This dataset is designed for robotic learning and control tasks, with a fixed training split where all 32 episodes are used for training.
数据集概述
- 名称: 0718A-green-block-circle
- 许可证: Apache-2.0
- 任务类型: 机器人学（robotics）
- 标签: LeRobot
数据集创建
该数据集使用 LeRobot 创建。
数据集结构
- 频率: 30 FPS
- 总片段数: 32
- 总帧数: 28,736
- 总任务数: 1
- 机器人类型: so_follower
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
特征
| 特征 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [6] | 机械臂动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置 |
| observation.state | float32 | [6] | 观察状态：与 action 相同的6个维度 |
| observation.images.front | video | [480, 640, 3] | 前置摄像头视频，分辨率480×640，AV1编码，30 FPS |
| observation.images.wrist | video | [480, 640, 3] | 腕部摄像头视频，分辨率480×640，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] | 索引 |
| task_index | int64 | [1] | 任务索引 |
数据拆分
- 训练集: 全部32个片段（片段0至31）
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
暂无具体引用格式。
