omy_f3m_Donderdag10cmModel1206
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot创建，专门针对omy_f3m机器人。数据集包含1个任务，共99个episodes，总计46759帧数据，对应198个视频文件，帧率为30fps。数据以parquet格式存储，包括训练集（全部episodes）。数据特征涵盖时间戳、帧索引、episode索引等元数据；观测数据包括手腕摄像头（分辨率270x480）和顶部摄像头（分辨率480x640）的视频流，以及机器人的状态观测（7个关节位置）；动作数据为7维关节控制命令。数据集适用于机器人学习、控制算法开发等研究。
This is a robotic manipulation dataset developed using LeRobot, specifically designed for the omy_f3m robot. The dataset encompasses 1 task, consisting of 99 episodes totaling 46759 frames, which correspond to 198 video files at a frame rate of 30 fps. The data is stored in Parquet format, and the training set comprises all episodes. The dataset's features include metadata such as timestamps, frame indices and episode indices; observational data covers video streams from the wrist camera (resolution: 270×480) and the overhead camera (resolution: 480×640), as well as robot state observations (7 joint positions); the action data consists of 7-dimensional joint control commands. This dataset is suitable for research in robotic learning, control algorithm development and other relevant fields.
数据集概述
- 数据集名称: Syntax-Terror-BV/omy_f3m_Donderdag10cmModel1206
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, omy_f3m, robotis
- 创建工具: 使用 LeRobot 创建
数据集规模
- 总片段数 (Episodes): 99
- 总帧数 (Frames): 46,759
- 总任务数 (Tasks): 1
- 总视频数 (Videos): 198
- 总块数 (Chunks): 1
- 块大小 (Chunk Size): 1000
- 帧率 (FPS): 30
- 数据分割: 全部 99 个片段用于训练 (train: "0:99")
数据存储
- 数据路径:
data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频路径:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - 数据格式: Parquet 文件
数据特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 整体索引 |
| task_index | int64 | [1] | 任务索引 |
| observation.images.cam_wrist | 视频 (video) | [270, 480, 3] | 手腕摄像头图像 (高度270, 宽度480, 3通道), 编解码器: libx264, 像素格式: yuv420p |
| observation.images.cam_top | 视频 (video) | [480, 640, 3] | 顶部摄像头图像 (高度480, 宽度640, 3通道), 编解码器: libx264, 像素格式: yuv420p |
| observation.state | float32 | [7] | 机器人状态 (关节1-6, rh_r1_joint) |
| action | float32 | [7] | 动作 (关节1-6, rh_r1_joint) |
机器人类型
- 机器人型号: omy_f3m
引用信息
- BibTeX: 暂无可用信息
