train_triple_fps15_Geen_Zoey3

该数据集由LeRobot创建，专用于机器人学任务。它包含机器人动作、状态观测和图像观测（包括侧视、腕部和顶部摄像头）等特征，具体涵盖7个关节的动作和状态数据（如肩部、肘部、腕部等关节），以及480x640分辨率的RGB视频图像。数据以Parquet格式存储，视频以MP4格式存储，帧率为15 fps。数据集结构包括时间戳、帧索引、剧集索引、索引和任务索引等元数据，适用于机器人控制、视觉感知和强化学习等应用。This dataset was created by LeRobot and is specifically designed for robotics tasks. It encompasses robot actions, state observations, and image observations including feeds from side-view, wrist-mounted, and top-down cameras. Specifically, it includes action and state data for 7 joints such as shoulder, elbow, and wrist joints, as well as RGB video images with a resolution of 480×640. The tabular data is stored in Parquet format, while the video files are saved in MP4 format at a frame rate of 15 fps. The dataset structure contains metadata including timestamps, frame indices, episode indices, global indices, and task indices, making it applicable to scenarios like robot control, visual perception, and reinforcement learning.

原始信息汇总

数据集基本信息

• 名称: train_triple_fps15_Geen_Zoey3
• 维护者: zjandaman
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot

数据集描述

该数据集使用 LeRobot 创建，可通过 可视化界面 查看。

数据集结构

代码库版本: v3.0 机器人类型: ur (通用机器人) 帧率 (FPS): 15 数据文件大小: 100 MB 视频文件大小: 200 MB 块大小 (chunks_size): 1000

数据存储路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet 视频存储路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征 (Features)

特征名称	数据类型	形状	说明
action	float32	(7,)	包含7个关节动作: shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint, gripper_joint
observation.state	float32	(7,)	观测状态，与action相同的7个关节
observation.images.side	video	(480, 640, 3)	侧视角摄像头视频 (高480x宽640x通道3)
observation.images.wrist	video	(480, 640, 3)	腕部摄像头视频 (高480x宽640x通道3)
observation.images.top	video	(480, 640, 3)	顶部摄像头视频 (高480x宽640x通道3)
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

备注

• 数据集总片段数、总帧数、总任务数当前均为0
• 数据集未定义数据划分 (splits)