fmb_dataset_lerobot

该数据集由LeRobot创建，主要用于机器人技术领域。数据集包含8612个episodes，1137459帧，24个任务和34448个视频。数据集的结构和特征在meta/info.json中有详细描述，包括多种观察和动作特征，如视频图像（来自不同视角）、状态（8维浮点数）、动作（7维浮点数）等。数据集的视频分辨率为256x256，帧率为10fps，采用av1编码。数据集还包含时间戳、帧索引、episode索引等元数据。

This dataset was created by LeRobot, primarily for the field of robotics. It contains 8612 episodes, 1137459 frames, 24 tasks, and 34448 videos. The structure and characteristics of the dataset are elaborately described in meta/info.json, including various observation and action features such as multi-view video images, 8-dimensional floating-point state, 7-dimensional floating-point action, and more. The videos in this dataset have a resolution of 256x256, a frame rate of 10fps, and adopt the AV1 encoding standard. Additionally, the dataset includes metadata such as timestamps, frame indices, and episode indices.

原始信息汇总

数据集概述

基本信息

• 名称: fmb_dataset_lerobot
• 创建工具: LeRobot
• 许可证: Apache-2.0
• 任务类别: 机器人学
• 标签: LeRobot, fmb_dataset, rlds, openx, franka

数据集结构

• 总集数: 8612
• 总帧数: 1137459
• 总任务数: 24
• 总视频数: 34448
• 总块数: 9
• 每块大小: 1000
• 帧率: 10 fps
• 分割: 训练集 (0:8612)

数据文件

• 数据路径: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频路径: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

特征描述

观察数据

• 图像数据:
  • observation.images.image_wrist_1: 256x256x3 RGB视频 (10 fps, AV1编码)
  • observation.images.image_wrist_2: 256x256x3 RGB视频 (10 fps, AV1编码)
  • observation.images.image_side_1: 256x256x3 RGB视频 (10 fps, AV1编码)
  • observation.images.image_side_2: 256x256x3 RGB视频 (10 fps, AV1编码)
• 状态数据:
  • observation.state: 8维浮点数组 (x, y, z, roll, pitch, yaw, pad, gripper)

动作数据

• action: 7维浮点数组 (x, y, z, roll, pitch, yaw, gripper)

元数据

• timestamp: 时间戳
• frame_index: 帧索引
• episode_index: 集索引
• index: 索引
• task_index: 任务索引

引用信息

• BibTeX: [More Information Needed]