train_grabfail_push_20260723_195757
收藏资源简介：
该数据集是一个使用LeRobot创建的机器人数据集，专注于机器人控制任务。它包含机器人的动作和状态观测数据，动作数据涉及6个关节的浮点型位置信息，包括肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置；状态观测同样包含这些关节位置。此外，数据集提供了来自顶部和前置摄像头的图像观测，以视频格式存储，分辨率为480x640，帧率为30fps，使用av1编码。其他特征包括时间戳、帧索引、回合索引、索引和任务索引。数据集总共有10个回合、5536帧和1个任务，数据以parquet文件组织，总数据大小约为100MB，视频文件大小约为200MB。机器人类型为so_follower，适用于训练机器人学习任务。
This dataset is a robotics dataset created using LeRobot, focusing on robot control tasks. It contains robot action and state observation data. The action data involves floating-point position information of 6 joints, including shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position; the state observations also include these joint positions. In addition, the dataset provides image observations from the top and front-facing cameras, stored in video format with a resolution of 480x640, a frame rate of 30fps, and encoded using av1. Other features include timestamps, frame indices, episode indices, indices, and task indices. The dataset has a total of 10 episodes, 5536 frames, and 1 task. The data is organized in parquet files, with a total data size of approximately 100 MB, and the video files total approximately 200 MB. The robot type is so_follower, which is suitable for training robot learning tasks.
数据集概要
- 数据集名称:
train_grabfail_push_20260723_195757 - 许可协议: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集结构
- 总片段数 (Total Episodes): 10
- 总帧数 (Total Frames): 5536
- 总任务数 (Total Tasks): 1
- 帧率 (FPS): 30
- 数据文件格式: Parquet (存储于
data/目录) - 视频文件格式: MP4 (存储于
videos/目录，编码为 AV1) - 数据量: 数据文件约 100 MB，视频文件约 200 MB
- 机器人类型:
so_follower
特征列表
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作：包含6个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper) |
observation.state |
float32 | [6] | 机器人状态：与动作相同，6个关节位置 |
observation.images.top |
video (AV1) | [480, 640, 3] | 顶部摄像头图像，480x640 分辨率，3 通道 |
observation.images.front |
video (AV1) | [480, 640, 3] | 前方摄像头图像，480x640 分辨率，3 通道 |
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 |
数据划分
- 训练集 (train): 所有 10 个片段（索引 0-9）
引用信息
- 论文: 暂无
- BibTeX: 暂无
