so100_bi_test
收藏资源简介：
该数据集由LeRobot创建，主要用于机器人技术相关的研究和应用。数据集包含61个episodes，共计81327帧，数据以parquet格式存储，总数据量约为100MB，视频文件约为200MB。数据采集频率为30fps。数据集包含动作和观察数据，其中动作数据包括16个浮点型特征，涉及机器人左右臂的各个关节位置、速度以及提升轴的高度。观察数据包括20个浮点型特征，涵盖机器人左右臂的关节位置、负载、电流以及速度等信息。此外，数据集还提供了来自四个不同视角的视频数据（head_top, head_front, wrist_left, wrist_right），分辨率为480x640，3通道，视频编码为av1。数据集适用于机器人控制、行为模仿等任务。
This dataset was developed by LeRobot and is primarily intended for robotics-related research and applications. It contains 61 episodes, totaling 81,327 frames. The tabular data is stored in Parquet format, with a total size of approximately 100 MB, while the accompanying video files amount to roughly 200 MB. The data is collected at a frequency of 30 fps. The dataset includes two primary data modalities: action data and observation data. The action data consists of 16 floating-point features, covering the joint positions, velocities, and the height of the lift axis for both the left and right arms of the robot. The observation data comprises 20 floating-point features, including the joint positions, loads, currents, and velocities of the robot's left and right arms, alongside other relevant metrics. Additionally, the dataset provides video data captured from four distinct viewpoints: head_top, head_front, wrist_left, and wrist_right. These videos have a resolution of 480×640, 3 color channels, and use the AV1 video coding standard. This dataset is suitable for tasks such as robot control and behavior cloning.
数据集概述
基本信息
- 数据集名称: alan11111116/so100_bi_test
- 创建工具: 使用 LeRobot 创建
- 许可协议: Apache-2.0
- 任务类别: 机器人学
- 标签: LeRobot
数据集规模与结构
- 总任务数: 1
- 总情节数: 61
- 总帧数: 81327
- 数据块大小: 1000
- 帧率: 30 FPS
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 代码库版本: v3.0
- 机器人类型: lekiwi_client
- 数据分割: 训练集 (0:61)
数据文件路径
- 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
数据特征
动作
- 数据类型: float32
- 形状: [16]
- 特征名称:
- arm_left_shoulder_pan.pos
- arm_left_shoulder_lift.pos
- arm_left_elbow_flex.pos
- arm_left_wrist_flex.pos
- arm_left_wrist_roll.pos
- arm_left_gripper.pos
- arm_right_shoulder_pan.pos
- arm_right_shoulder_lift.pos
- arm_right_elbow_flex.pos
- arm_right_wrist_flex.pos
- arm_right_wrist_roll.pos
- arm_right_gripper.pos
- x.vel
- y.vel
- theta.vel
- lift_axis.height_mm
观测状态
- 数据类型: float32
- 形状: [20]
- 特征名称:
- arm_left_shoulder_pan.pos
- arm_left_shoulder_lift.pos
- arm_left_elbow_flex.pos
- arm_left_wrist_flex.pos
- arm_left_wrist_roll.pos
- arm_left_gripper.pos
- arm_left_gripper.load
- arm_left_gripper.current
- arm_right_shoulder_pan.pos
- arm_right_shoulder_lift.pos
- arm_right_elbow_flex.pos
- arm_right_wrist_flex.pos
- arm_right_wrist_roll.pos
- arm_right_gripper.pos
- arm_right_gripper.load
- arm_right_gripper.current
- x.vel
- y.vel
- theta.vel
- lift_axis.height_mm
观测图像
包含四个视角的视频数据，具体参数如下：
- 图像数据类型: video
- 图像形状: [480, 640, 3]
- 图像维度名称: height, width, channels
- 视频编码: av1
- 像素格式: yuv420p
- 是否为深度图: false
- 帧率: 30
- 通道数: 3
- 包含音频: false
具体视角:
- observation.images.head_top (顶部头部视角)
- observation.images.head_front (前部头部视角)
- observation.images.wrist_left (左手腕视角)
- observation.images.wrist_right (右手腕视角)
索引与元数据
- timestamp: 数据类型 float32，形状 [1]
- frame_index: 数据类型 int64，形状 [1]
- episode_index: 数据类型 int64，形状 [1]
- index: 数据类型 int64，形状 [1]
- task_index: 数据类型 int64，形状 [1]
引用信息
- 主页: [More Information Needed]
- 论文: [More Information Needed]
- BibTeX 引用: [More Information Needed]
