eval_act_pick_place_07_16
收藏资源简介：
该数据集由LeRobot创建，是一个专门用于机器人技术的数据集，针对so_follower类型的机器人。它包含4个完整的情节（episodes），总计1788帧数据，涉及一个任务（可能是拾取放置任务，如文件名eval_act_pick_place_07_16所示）。数据集结构包括动作数据（包含6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、状态观测（与动作相同的6个关节位置）、以及两个摄像头的视频观测：一个电话摄像头（分辨率为640x480）和一个腕部摄像头（分辨率为480x640），视频帧率为25fps。此外，数据集还包含时间戳、帧索引、情节索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，总数据大小约为100MB，视频文件大小约为200MB。数据集使用Apache 2.0许可证。
This dataset was created by LeRobot, and is a robotics-specific dataset tailored for so_follower-type robots. It contains 4 full episodes, totaling 1788 frames of data, corresponding to a task (likely a pick-and-place task, as indicated by the filename eval_act_pick_place_07_16). The dataset structure includes action data (comprising 6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position), state observations (the same 6 joint positions as the action data), and video observations from two cameras: a phone camera with a resolution of 640x480 and a wrist camera with a resolution of 480x640, with a video frame rate of 25 fps. In addition, the dataset also includes metadata such as timestamps, frame indices, and episode indices. The data is stored in Parquet file format, while the videos are stored in MP4 format. The total size of the dataset is approximately 100 MB, with the video files occupying approximately 200 MB. This dataset is licensed under the Apache 2.0 license.
数据集概述
- 数据集名称: eval_act_pick_place_07_16
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 数据集来源: 使用 LeRobot 创建
数据集结构
- 机器人类型: so_follower
- 总片段数 (episodes): 4
- 总帧数 (frames): 1788
- 总任务数: 1
- 数据块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 25
- 数据集划分: 训练集包含全部 4 个片段 (train: 0:4)
数据特征 (Features)
| 特征名称 | 数据类型 | 形状 (Shape) | 说明 |
|---|---|---|---|
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，同样为 6 个关节位置 (与 action 的名称一致) |
observation.images.phone |
video | (640, 480, 3) | 手机摄像头图像，分辨率 640x480，RGB 三通道，AV1 编码，25 FPS |
observation.images.wrist |
video | (480, 640, 3) | 手腕摄像头图像，分辨率 480x640，RGB 三通道，AV1 编码，25 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,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据文件路径
- 数据路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
其他信息
- 主页: [More Information Needed]
- 论文: [More Information Needed]
- 引用 BibTeX: [More Information Needed]
