board_handover_hyundai_success_right_arm_fixed_31_recomputed_stats
收藏资源简介：
该数据集是一个机器人学数据集，由LeRobot创建，包含112个episodes和36282帧数据，帧率为30fps。数据集中包含观察状态（38维浮点数，表示左臂7个关节、右臂7个关节以及左右夹爪各12个关节的状态）、动作（9维浮点数，表示左臂7个关节和左右夹爪的控制）、来自头部摄像头（720x1280分辨率）以及左右手腕摄像头（均为240x424分辨率）的视频观察，视频编码为AV1格式。此外，还包括时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集以Parquet文件存储，总数据文件大小为100MB，视频文件大小为200MB，适用于机器人控制和学习任务，具体任务未明确说明，但可能涉及双臂机器人操作。
This is a robotics dataset created by LeRobot. It contains 112 episodes and 36282 frames with a frame rate of 30 fps. The dataset includes observation states (38-dimensional floating-point numbers, representing the states of 7 joints of the left arm, 7 joints of the right arm, and 12 joints for each of the left and right grippers), actions (9-dimensional floating-point numbers, representing the control inputs for the 7 joints of the left arm and the left/right grippers), video observations from the head camera (720×1280 resolution) as well as the left and right wrist cameras (both with a resolution of 240×424), with videos encoded in AV1 format. Additionally, it includes metadata such as timestamps, frame indices, episode indices, indices and task indices. The dataset is stored in Parquet files, with a total size of 100 MB for the data files and 200 MB for the video files. It is suitable for robotics control and learning tasks; while the specific tasks are not explicitly specified, they may involve dual-arm robotic manipulation.
数据集概述
- 数据集名称: board_handover_hyundai_success_right_arm_fixed_31_recomputed_stats
- 许可协议: Apache-2.0
- 任务类别: 机器人 (robotics)
- 标签: LeRobot
数据集详细信息
数据集结构
- 帧率 (FPS): 30
- 总片段数 (Episodes): 112
- 总帧数 (Frames): 36,282
- 总任务数 (Tasks): 1
- 数据分块大小 (Chunks size): 1,000
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据文件路径模板:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径模板:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 数据划分 (Splits): 训练集 (train) 包含全部 112 个片段
特征 (Features)
| 特征名称 | 数据类型 | 形状 (Shape) | 具体维度含义 |
|---|---|---|---|
observation.state |
float32 | (38,) | 38 维状态，包括左/右臂关节 (7 个各)、左/右夹爪各 12 个关节参数 |
action |
float32 | (9,) | 9 维动作，包括左臂 7 个关节、左夹爪、右夹爪 |
observation.images.head |
video | (3, 720, 1280) | 头部摄像头，分辨率 1280x720，RGB 3 通道，30 FPS，AV1 编码 |
observation.images.left_wrist |
video | (3, 240, 424) | 左手腕摄像头，分辨率 424x240，RGB 3 通道，30 FPS，AV1 编码 |
observation.images.right_wrist |
video | (3, 240, 424) | 右手腕摄像头，分辨率 424x240，RGB 3 通道，30 FPS，AV1 编码 |
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 |
