planar_3joint_simple
收藏资源简介：
该数据集是使用LeRobot创建的机器人控制数据集，专门用于平面3关节简单机器人任务。数据集包含500个总episodes和114,316个总frames，每个episode代表一个完整的机器人控制序列。数据特征包括观察部分：两种RGB图像（base_rgb_letterbox和base_rgb_stretch），形状为3通道x224x224像素，以及状态观察（6个浮点数，表示关节1、关节2、关节3、夹持器和两个额外状态）。动作部分包含4个浮点数，对应关节1、关节2、关节3和夹持器的控制命令。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。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200MB。机器人类型为“lerobot_splatsim”，数据集仅包含训练分割（0:500）。该数据集适用于机器人学习、控制算法开发和模拟任务，许可证为Apache-2.0。
This robotic control dataset was constructed using LeRobot, and is specifically designed for planar 3-joint simple robotic tasks. It includes a total of 500 episodes and 114,316 frames, with each episode representing a complete robotic control sequence. The dataset features two types of observation modalities: RGB images (base_rgb_letterbox and base_rgb_stretch) with a shape of 3 channels × 224 × 224 pixels, and state observations composed of 6 floating-point numbers, which represent joint 1, joint 2, joint 3, the gripper, and two additional states. The action components consist of 4 floating-point numbers, corresponding to the control commands for joint 1, joint 2, joint 3, and the gripper. Additionally, the dataset contains metadata including timestamps, frame indices, episode indices, sample indices, and task indices. The data is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB. The robotic platform type is "lerobot_splatsim", and the dataset only provides the training split (0:500). This dataset is applicable to robotic learning, control algorithm development, and simulation-related tasks, and is licensed under the Apache-2.0 license.
数据集概述
- 名称：planar_3joint_simple
- 许可证：Apache-2.0
- 任务类别：机器人学（Robotics）
- 标签：LeRobot
- 创建方式：使用 LeRobot 框架创建
数据集结构
- 代码版本：v3.0
- 帧率：30 FPS
- 总集数：500
- 总帧数：114,316
- 总任务数：1
- 数据分块大小：1000
- 数据文件大小：约 100 MB
- 视频文件大小：约 200 MB
- 机器人类型：lerobot_splatsim
- 数据划分：
- 训练集：索引 0 至 499（共 500 集）
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| observation.images.base_rgb_letterbox | image | (3, 224, 224) | 基础 RGB 图像（信箱缩放） |
| observation.images.base_rgb_stretch | image | (3, 224, 224) | 基础 RGB 图像（拉伸缩放） |
| observation.state | float32 | (6,) | 机器人状态：joint_1, joint_2, joint_3, gripper, state_extra_0, state_extra_1 |
| action | float32 | (4,) | 动作：joint_1, joint_2, joint_3, gripper |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 集索引 |
| index | int64 | (1,) | 全局索引 |
| task_index | int64 | (1,) | 任务索引 |
其他信息
- 数据文件路径：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 可视化链接：https://huggingface.co/spaces/lerobot/visualize_dataset?path=JennyWWW/planar_3joint_simple
