pick-up-yellow-eraser-place-in-gray-basket-v06_20260711_090443
收藏资源简介：
该数据集使用LeRobot工具创建，专注于机器人操作任务，具体任务为拾取黄色橡皮并放入灰色篮子。数据集包含96个总集数，66066个总帧数，帧率为30fps。特征包括动作（如肩部、肘部、腕部和夹爪的位置）、观测状态（与动作类似的位置信息）、来自前部和腕部摄像头的图像观测（分辨率为720x1280，3通道，视频编码为av1），以及时间戳、帧索引、集索引、索引和任务索引等元数据。数据以parquet文件格式存储，视频文件以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为so_follower，数据集仅包含训练分割，覆盖所有96个集。
This dataset was created using the LeRobot tool and focuses on robot manipulation tasks, specifically the task of picking up a yellow eraser and placing it into a gray basket. It contains a total of 96 episodes and 66,066 frames, with a frame rate of 30fps. Features include actions (e.g., positions of the shoulder, elbow, wrist, and gripper), observation states (similar positional information as actions), image observations from front and wrist cameras (resolution 720x1280, 3 channels, video encoding av1), as well as metadata such as timestamps, frame indices, episode indices, indices, and task indices. Data is stored in parquet file format, video files are stored in mp4 format, with a total data file size of 100MB and video file size of 200MB. The robot type is so_follower, and the dataset only includes a training split, covering all 96 episodes.
数据集概述
- 数据集名称：pick-up-yellow-eraser-place-in-gray-basket-v06_20260711_090443
- 任务类别：机器人学（robotics）
- 许可协议：Apache-2.0
- 创建工具：使用 LeRobot 创建
数据集结构
- 代码库版本：v3.0
- 帧率：30 FPS
- 总片段数：96
- 总帧数：66,066
- 总任务数：1
- 数据文件大小：100 MB
- 视频文件大小：200 MB
- 机器人类型：so_follower
- 数据拆分：全部96个片段用于训练
特征说明
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | [6] | 机器人动作，包含6个关节（shoulder_pan、shoulder_lift、elbow_flex、wrist_flex、wrist_roll、gripper）的位置 |
observation.state |
float32 | [6] | 机器人观测到的状态，与动作维度相同（6个关节位置） |
observation.images.front |
video | [720, 1280, 3] | 前视摄像头视频，分辨率720x1280，RGB三通道，AV1编码，30 FPS |
observation.images.wrist |
video | [720, 1280, 3] | 腕部摄像头视频，分辨率720x1280，RGB三通道，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 |
数据文件路径
- 数据文件：
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件：
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
