trossen_ai_stationary

该数据集是一个基于LeRobot框架创建的机器人控制数据集，用于训练和评估机器人控制算法。数据集包含13个episodes，总计4658帧，覆盖2个不同的任务，并包含39个视频片段。数据以30帧/秒的速率采集，来自名为trossen_ai_stationary的机器人平台。数据集结构包括：动作数据（14维浮点数组，对应左右机械臂的各7个关节控制）；状态观测（14维浮点数组，表示关节状态）；图像观测来自三个摄像头：一个高位摄像头（cam_high）、一个右腕摄像头（cam_right_wrist）和一个左腕摄像头（cam_left_wrist），每个视频的分辨率为480x640，3通道彩色，使用av1编解码器。此外，数据集还包含时间戳、帧索引、episode索引、全局索引和任务索引等元数据。所有数据存储在Parquet格式文件中，仅包含训练集。

This dataset is a robot control dataset created using the LeRobot framework, designed for training and evaluating robot control algorithms. It contains 13 episodes, totaling 4658 frames, covering 2 different tasks, and includes 39 video clips. Data is collected at a rate of 30 frames per second from a robot platform named trossen_ai_stationary. The dataset structure includes: action data (14-dimensional floating-point arrays, corresponding to the 7 joint controls for each of the left and right robotic arms); state observations (14-dimensional floating-point arrays, representing joint states); image observations from three cameras: a high camera (cam_high), a right wrist camera (cam_right_wrist), and a left wrist camera (cam_left_wrist), with each video having a resolution of 480x640, 3-channel color, using the av1 codec. Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, global indices, and task indices. All data is stored in Parquet format files and includes only the training set.

原始信息汇总

数据集概览：trossen_ai_stationary

• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: 基于 LeRobot 构建

数据集规模与结构

• 总片段数 (Episodes): 13
• 总帧数 (Frames): 4,658
• 总任务数 (Tasks): 2
• 总视频数 (Videos): 39
• 数据块数 (Chunks): 1
• 帧率 (FPS): 30
• 数据分割: 全部13个片段用于训练

特征描述

特征名称	数据类型	维度 / 形状	说明
action	float32	(14,)	包含左右各7个关节动作指令，共14维
observation.state	float32	(14,)	观测到的关节状态，与action维度一致
observation.images.cam_high	视频	(480, 640, 3)	高位摄像头图像，编码为AV1，30fps
observation.images.cam_right_wrist	视频	(480, 640, 3)	右手腕摄像头图像
observation.images.cam_left_wrist	视频	(480, 640, 3)	左手腕摄像头图像
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

数据存储路径

• Parquet 数据: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• 视频文件: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

引用信息

当前未提供 BibTeX 引用格式。