eval_DP_so100_gauze_temp10

该数据集由LeRobot创建，主要用于机器人技术领域。数据集包含2个episodes，856帧，6个视频，1个任务。数据包括动作、观测状态、多个摄像头的图像数据等。具体来说，动作和观测状态数据包含6个浮点型数值，分别对应机器人的各个关节。图像数据来自三个摄像头（FrontCam、TopCam、WristCam），分辨率为480x640，3通道，帧率为30fps。数据集还包含时间戳、帧索引、episode索引等信息。

This dataset was developed by LeRobot, primarily targeting the field of robotics. It contains 2 episodes, 856 frames, 6 videos, and 1 task. The dataset includes action data, observation state data, multi-camera image data and other related information. Specifically, the action and observation state data consist of 6 floating-point values corresponding to each joint of the robot. The image data is captured by three cameras: FrontCam, TopCam and WristCam, with a resolution of 480x640, 3 channels and a frame rate of 30 fps. The dataset also contains supplementary information such as timestamps, frame indices and episode indices.

原始信息汇总

数据集概述

基本信息

• 许可证: apache-2.0
• 任务类别: robotics
• 标签: LeRobot, tutorial
• 代码库版本: v2.1
• 机器人类型: so100

数据集结构

• 总片段数: 2
• 总帧数: 856
• 总任务数: 1
• 总视频数: 6
• 总块数: 1
• 块大小: 1000
• 帧率: 30 fps
• 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

数据特征

动作 (action)

• 数据类型: float32
• 形状: [6]
• 名称: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper

观测状态 (observation.state)

• 数据类型: float32
• 形状: [6]
• 名称: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper

观测图像 (observation.images)

FrontCam

• 数据类型: video
• 形状: [480, 640, 3]
• 名称: height, width, channels
• 信息:
  • video.fps: 30.0
  • video.height: 480
  • video.width: 640
  • video.channels: 3
  • video.codec: av1
  • video.pix_fmt: yuv420p
  • video.is_depth_map: false
  • has_audio: false

TopCam

• 数据类型: video
• 形状: [480, 640, 3]
• 名称: height, width, channels
• 信息: 同FrontCam

WristCam

• 数据类型: video
• 形状: [480, 640, 3]
• 名称: height, width, channels
• 信息: 同FrontCam

其他特征

• timestamp: float32, 形状 [1]
• frame_index: int64, 形状 [1]
• episode_index: int64, 形状 [1]
• index: int64, 形状 [1]
• task_index: int64, 形状 [1]

分割信息

• 训练集: 0:2

引用

• BibTeX: [More Information Needed]