eval_act20260609_165356
收藏资源简介：
该数据集使用LeRobot创建，是一个机器人学数据集，专门针对cranex7_follower机器人类型。数据集包含20个完整训练集，总计8050帧，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。数据被分成大小为1000的块，并包含训练分割（索引0到20）。特征包括动作（8个浮点数，代表机器人各关节和夹爪位置）、观察状态（与动作相同的8个浮点数）、两个触觉传感器观察（各1个浮点数值）、两个摄像头图像观察（顶部摄像头和腕部摄像头，均为480x640分辨率、3通道的视频数据），以及其他元数据如时间戳、帧索引、集索引、索引和任务索引。数据集适用于机器人控制和学习任务。
This dataset is created using the LeRobot framework, and it is a robotics dataset specifically designed for the cranex7_follower robot platform. It comprises 20 complete training sets, totaling 8050 frames with a frame rate of 30 fps. The data is stored in Parquet file format, with a total Parquet data size of 100 MB and a total video file size of 500 MB. The dataset is split into chunks of 1000 entries each, and includes a training split with indices ranging from 0 to 20. The included features are: actions (8 floating-point numbers representing the positions of each robot joint and gripper), observation states (8 floating-point numbers identical to the action values), two tactile sensor observations (each containing one floating-point value), two camera image observations (a top camera and a wrist camera, both with 480×640 resolution and 3-channel video data), as well as additional metadata such as timestamps, frame indices, set indices, individual indices and task indices. This dataset is suitable for robotics control and learning tasks.
数据集概述
- 数据集名称:
eval_act20260609_165356 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 基于 LeRobot 框架创建
数据集规模与结构
- 总片段数 (episodes): 20
- 总帧数 (frames): 8050
- 总任务数: 1
- 数据分块: 每块包含 1000 帧 (chunks_size: 1000)
- 帧率 (fps): 30
- 数据文件大小: 100 MB
- 视频文件大小: 500 MB
- 划分: 所有 20 个片段均用于训练 (train: "0:20")
机器人类型
- 机器人: cranex7_follower
特征与传感器
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (8,) | 8个关节位置：ID2～ID8 和夹爪 (gripper) |
| observation.state | float32 | (8,) | 与 action 相同的 8 个关节位置状态 |
| observation.sensor.tactile_1 | float32 | (1,) | 触觉传感器 1 数值 |
| observation.sensor.tactile_2 | float32 | (1,) | 触觉传感器 2 数值 |
| observation.images.camera_top | video | (480, 640, 3) | 顶部摄像头视频流，AV1 编码，30fps |
| observation.images.camera_wrist | video | (480, 640, 3) | 腕部摄像头视频流，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,) | 全局索引 |
| task_index | int64 | (1,) | 任务索引 |
数据存储
- 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 - 元信息文件:
meta/info.json
