Search is not available for this dataset
action listlengths 6 6 ⌀ | observation.state listlengths 6 6 ⌀ | timestamp float32 0 15 ⌀ | frame_index int64 0 449 ⌀ | episode_index int64 0 439 ⌀ | index int64 0 193k ⌀ | task_index int64 0 0 ⌀ |
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End of preview. Expand in Data Studio
duck_dataset_v3_augmented
Version augmentée de divisio74/duck_dataset_v3, au format LeRobot v3.0.
| Source | Ce dataset | |
|---|---|---|
| Épisodes | 40 | 440 |
| Frames | 17 518 | 192 698 |
| fps | 30 | 30 |
robot_type |
so_follower |
so_follower |
| Caméras | wrist, front — 480×640 |
identiques |
Composition
40 épisodes sources × 11 variantes = 440 épisodes, soit 40 de chaque catégorie :
original— copie non modifiéecrop_resize,gaussian_blur,color_jitter,sensor_noise— techniques seules- les 6 compositions de deux de ces techniques
meta/augmentation_map.json indique pour chaque épisode sa technique et son épisode source.
Techniques
Toutes sont purement visuelles et appliquées avec un réglage constant sur la durée d'un épisode (pas de scintillement). Le paramètre est retiré aléatoirement par épisode.
| Technique | Effet |
|---|---|
crop_resize |
recadrage 75-95 % puis retour à 640×480 |
gaussian_blur |
flou gaussien, noyau 7-11, sigma 1,5-3,5 |
color_jitter |
luminosité / contraste / saturation ±20 % |
sensor_noise |
grain gaussien sur les pixels, sigma 6-14 |
Aucune augmentation temporelle n'est utilisée. Modifier la durée ou la cadence d'un épisode (ralenti, accéléré, suppression de frames) enseigne une dynamique fausse à un modèle qui apprend la physique du geste.
Avertissement
Ce dataset n'est pas un sur-ensemble de la source : tous les épisodes, y compris les copies « originales », ont été ré-encodés. Conserver duck_dataset_v3 comme référence.
Produit avec data_augmentation/augment.py du projet
LeWM-Robot (--safe --pairs).
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