eval_pi05_openarm_sponge_pick_and_place_15ep_04

该数据集是一个机器人技术相关的数据集，由LeRobot创建。它包含了机器人动作、观察状态、顶部摄像头图像等多种特征数据，以及时间戳、帧索引等元数据。数据集的具体用途和背景信息未明确说明，但可能用于机器人控制和学习任务。

This is a robotics dataset created by LeRobot. It contains various feature data including robot actions, observation states, images captured by the top-mounted camera, as well as metadata such as timestamps and frame indices. The specific usage and background information of this dataset are not clearly specified, but it may be used for robot control and learning tasks.

原始信息汇总

数据集概述

基本信息

• 数据集名称: eval_pi05_openarm_sponge_pick_and_place_15ep_04
• 创建工具: LeRobot (https://github.com/huggingface/lerobot)
• 许可证: Apache-2.0
• 任务类别: 机器人学
• 标签: LeRobot

数据集结构

• 总任务数: 1
• 总回合数: 2
• 总帧数: 2505
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率: 30 FPS
• 数据块大小: 1000
• 代码库版本: v3.0
• 机器人类型: openarm_follower
• 数据分割: 训练集 (0:2)
• 数据文件路径模式: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径模式: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据特征

• action

  • 数据类型: float32
  • 形状: [24]
  • 特征名: joint_1.pos, joint_1.vel, joint_1.torque, joint_2.pos, joint_2.vel, joint_2.torque, joint_3.pos, joint_3.vel, joint_3.torque, joint_4.pos, joint_4.vel, joint_4.torque, joint_5.pos, joint_5.vel, joint_5.torque, joint_6.pos, joint_6.vel, joint_6.torque, joint_7.pos, joint_7.vel, joint_7.torque, gripper.pos, gripper.vel, gripper.torque

• observation.state

  • 数据类型: float32
  • 形状: [24]
  • 特征名: joint_1.pos, joint_1.vel, joint_1.torque, joint_2.pos, joint_2.vel, joint_2.torque, joint_3.pos, joint_3.vel, joint_3.torque, joint_4.pos, joint_4.vel, joint_4.torque, joint_5.pos, joint_5.vel, joint_5.torque, joint_6.pos, joint_6.vel, joint_6.torque, joint_7.pos, joint_7.vel, joint_7.torque, gripper.pos, gripper.vel, gripper.torque

• observation.images.top

  • 数据类型: video
  • 形状: [720, 1280, 3]
  • 特征名: height, width, channels
  • 视频信息:
    • 视频高度: 720
    • 视频宽度: 1280
    • 视频编解码器: av1
    • 像素格式: yuv420p
    • 是否为深度图: false
    • 帧率: 30
    • 通道数: 3
    • 是否包含音频: false

• timestamp

  • 数据类型: float32
  • 形状: [1]
  • 特征名: null

• frame_index

  • 数据类型: int64
  • 形状: [1]
  • 特征名: null

• episode_index

  • 数据类型: int64
  • 形状: [1]
  • 特征名: null

• index

  • 数据类型: int64
  • 形状: [1]
  • 特征名: null

• task_index

  • 数据类型: int64
  • 形状: [1]
  • 特征名: null

可视化

• 数据集可视化空间: https://huggingface.co/spaces/lerobot/visualize_dataset?path=aShunSasaki/eval_pi05_openarm_sponge_pick_and_place_15ep_04

引用信息

• 主页: [More Information Needed]
• 论文: [More Information Needed]
• BibTeX引用: [More Information Needed]