cable_handover_arm_only_success
收藏资源简介：
这是一个通过LeRobot创建的机器人数据集，专注于机器人任务，具体涉及电缆交接操作（仅限手臂成功案例）。数据集包含70个总集数和35,855总帧数，以30帧每秒的速率采集。数据特征包括观察状态（如左右臂的7个关节和左右夹爪的多个关节数据，共38个浮点值）、动作（如左右臂的7个关节和左右夹爪的控制，共16个浮点值），以及观察图像（包括头部摄像头视频（分辨率1280x720）、左腕和右腕摄像头视频（分辨率424x240））。其他元数据包括时间戳、帧索引、集索引等。数据集结构以parquet文件存储，总数据大小约100MB，视频文件大小约200MB，任务索引为1，适用于机器人学习和控制研究。
This is a robot dataset created via LeRobot, focusing on robot tasks, specifically involving cable handover operations (limited to arm success cases). The dataset contains a total of 70 episodes and 35,855 frames, collected at a rate of 30 frames per second. Data features include observation states (such as 7 joints for the left and right arms, and multiple joint data for the left and right grippers, totaling 38 floating-point values), actions (such as control of 7 joints for the left and right arms, and left and right grippers, totaling 16 floating-point values), and observation images (including head camera video with a resolution of 1280x720, and left and right wrist camera videos with a resolution of 424x240). Other metadata includes timestamps, frame indices, episode indices, etc. The dataset structure is stored in parquet files, with a total data size of approximately 100MB and video file size of about 200MB, task index 1, suitable for robot learning and control research.
数据集概述：cable_handover_arm_only_success
- 许可证: Apache-2.0
- 任务类型: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 基于 LeRobot 框架生成
数据集结构
- 代码版本: v3.0
- 帧率 (FPS): 30
- 总片段数 (Episodes): 70
- 总帧数: 35,855
- 总任务数: 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 数据切分: 仅包含训练集 (train: 0:70)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
observation.state |
float32 | [38] | 包含左右臂关节 (arm_left.joint1-7, arm_right.joint1-7) 和左右夹爪位置 (gripper_left.j_1_1 至 gripper_right.j_3_4) |
action |
float32 | [16] | 包含左右臂关节控制和左右夹爪控制 (arm_left.joint1-7, arm_right.joint1-7, gripper_left, gripper_right) |
observation.images.head |
video | [3, 720, 1280] | 头部摄像头，分辨率 1280x720，AV1 编码，30 FPS |
observation.images.left_wrist |
video | [3, 240, 424] | 左手腕摄像头，分辨率 424x240，AV1 编码，30 FPS |
observation.images.right_wrist |
video | [3, 240, 424] | 右手腕摄像头，分辨率 424x240，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 |
文件存储路径
- 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
引用信息
- BibTeX: 待补充 ([More Information Needed])
