HCIS-Test
收藏资源简介：
该数据集由LeRobot创建，专注于机器人技术领域，使用Franka Panda机器人收集。数据集包含214个episodes，总计388,090帧，覆盖2个不同任务。数据以parquet格式存储，视频文件为mp4格式，帧率为30fps。特征包括：机器人的8维动作向量、9维关节位置状态观测、来自手腕和前方摄像头的视频观测（分辨率为480x640，3通道），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制、强化学习或计算机视觉任务的研究和开发。
This dataset was created by LeRobot, which focuses on the field of robotics, and was collected using a Franka Panda robot. It consists of 214 episodes, totaling 388,090 frames, covering 2 distinct tasks. The data is stored in Parquet format, while the video files are in MP4 format with a frame rate of 30 fps. Its features include: an 8-dimensional robot action vector, 9-dimensional joint position state observations, video observations from the wrist and front-facing cameras (resolution: 480×640, 3 channels), as well as metadata such as timestamps, frame indices, and episode indices. This dataset is applicable to the research and development of robot control, reinforcement learning, or computer vision tasks.
HCIS-Test 数据集概述
基本信息
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据规模与结构
- 机器人类型: Franka Panda
- 总片段数 (Episodes): 214
- 总帧数 (Frames): 388,090
- 总任务数 (Tasks): 2
- 帧率 (FPS): 30
- 数据块大小 (Chunk Size): 1000
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据拆分: 全部 214 个片段用于训练 (train: 0:214)
数据文件路径
- 主要数据:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频数据:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (8,) | 8 维动作指令 |
observation.state |
float32 | (9,) | 9 维机器人状态，包含 7 个关节位置 (panda_joint1~7.pos) 和 2 个手指关节位置 (panda_finger_joint1~2.pos) |
observation.images.wrist |
video | (480, 640, 3) | 手腕摄像头视频，分辨率 480x640，AV1 编码，30 FPS |
observation.images.front |
video | (480, 640, 3) | 前方摄像头视频，分辨率 480x640，AV1 编码，30 FPS |
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 |
