omx_f_QUVI06253
收藏资源简介：
该数据集由LeRobot创建，专门用于机器人技术任务，针对omx_f型机器人。它包含30个episodes，总计4505帧，覆盖1个任务，并包含30个视频。数据以parquet格式存储，视频为MP4格式，帧率为30fps。数据集的特征包括时间戳、帧索引、episode索引、任务索引、来自camera1的观察图像（尺寸为480x640x3）、观察状态（包括6个关节状态：joint1至joint5和gripper_joint_1）以及动作（同样包括6个关节动作）。数据集结构支持训练分割，适用于机器人控制和学习任务。
This dataset was developed by LeRobot, exclusively for robotics tasks targeting the omx_f-type robot. It consists of 30 episodes, totaling 4505 frames, covering a single task, and includes 30 videos. The data is stored in Parquet format, while the videos are in MP4 format with a frame rate of 30 fps. The dataset features include timestamps, frame indices, episode indices, task indices, observation images from Camera 1 (with a resolution of 480×640×3), observation states (comprising 6 joint states: joint1 to joint5 and gripper_joint_1), as well as actions (also including 6 joint actions). The dataset structure supports training splits and is suitable for robotic control and learning tasks.
数据集概述
- 数据集名称:
omx_f_QUVI06253 - 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, omx_f, robotis
数据集规模
- 总片段数 (episodes): 30
- 总帧数 (frames): 4505
- 总任务数 (tasks): 1
- 总视频数 (videos): 30
- 总数据块数 (chunks): 1
- 帧率 (fps): 30
- 数据划分: 所有 30 个片段均用于训练 (train)
数据结构
数据集基于 LeRobot 框架构建，包含以下特征：
- 时间戳 (timestamp): float32 类型，形状为 [1]
- 帧索引 (frame_index): int64 类型，形状为 [1]
- 片段索引 (episode_index): int64 类型，形状为 [1]
- 全局索引 (index): int64 类型，形状为 [1]
- 任务索引 (task_index): int64 类型，形状为 [1]
- 观测 - 图像 (observation.images.camera1): 视频数据，分辨率为 480x640，3 通道，编码为 libx264 (yuv420p)
- 观测 - 状态 (observation.state): float32 类型，形状为 [6]，包含 5 个关节和 1 个夹爪关节状态
- 动作 (action): float32 类型，形状为 [6]，包含 5 个关节和 1 个夹爪关节动作指令
文件路径
- 数据文件:
data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频文件:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
引用信息
当前无可用 BibTeX 引用。
