bxcube_gbr
收藏资源简介：
该数据集使用LeRobot工具创建，是一个专门用于so101_follower机器人类型的机器人控制数据集。它包含20个训练集，总计17736帧数据，帧率为30fps。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为500MB。数据集特征包括：动作（由6个浮点值表示，对应肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（同样为6个浮点值，表示关节位置，与动作相同）、前摄像头图像观测（视频格式，分辨率480x640，3通道，编码为av1）、腕部摄像头图像观测（视频格式，分辨率480x640，3通道，编码为av1），以及时间戳、帧索引、集索引、索引和任务索引等元数据。该数据集适用于机器人学习任务，如模仿学习或强化学习。
This dataset was developed using the LeRobot toolkit, and is a robotic control dataset specifically tailored for the so101_follower robot type. It includes 20 training splits, with a total of 17736 frames at a frame rate of 30 fps. The data is stored in Parquet file format, with the total size of the Parquet data files being 100 MB, and the total size of the video files being 500 MB. The dataset contains the following features: actions (represented by 6 floating-point values corresponding to shoulder translation, shoulder elevation/lowering, elbow flexion, wrist flexion, wrist rotation, and gripper position); observation states (also consisting of 6 floating-point values representing joint positions identical to those in the actions); front camera image observations (stored in video format, with a resolution of 480×640, 3 channels, encoded in AV1); wrist camera image observations (stored in video format, with a resolution of 480×640, 3 channels, encoded in AV1); as well as metadata including timestamps, frame index, split index, sample index, and task index. This dataset is suitable for robotic learning tasks such as imitation learning and reinforcement learning.
数据集概述：bxcube_gbr
- 数据集地址：https://huggingface.co/datasets/cieclr/bxcube_gbr
- 许可证：Apache-2.0
- 任务类别：机器人技术（robotics）
- 标签：LeRobot
数据集结构
| 属性 | 值 |
|---|---|
| 代码库版本 | v3.0 |
| 机器人类型 | so101_follower |
| 总片段数 | 20 |
| 总帧数 | 18,736 |
| 总任务数 | 1 |
| 块大小 | 1000 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 500 MB |
| 帧率 | 30 fps |
| 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 |
数据划分
- 训练集：片段 0 到 19（共20个片段）
特征说明
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (6,) | 机械臂6个关节的动作指令（肩部转动、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置） |
observation.state |
float32 | (6,) | 机械臂6个关节的观测状态（同动作指令） |
observation.images.front |
视频 | (480, 640, 3) | 前视摄像头图像，分辨率480x640，AV1编码，30fps |
observation.images.wrist |
视频 | (480, 640, 3) | 腕部摄像头图像，分辨率480x640，AV1编码，30fps |
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 |
引用信息
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