pick_and_place_onestep_5blocks_all_stages_clockwise_wrist_visible_merged_v1_20260706_225606

该数据集是一个机器人学数据集，专门用于拾取和放置任务，涉及对五个积木的单步操作。数据集包含251个总片段和111,814个总帧，以每秒30帧的速率采集。数据特征包括机器人的动作（如肩部、肘部、腕部和夹爪的位置）和观察状态（同样包含这些位置信息），以及来自顶部和腕部摄像头的视频图像（分辨率为480x640，3通道）。此外，数据集还包含时间戳、帧索引、片段索引、索引和任务索引等元数据。机器人类型为so_follower，数据以parquet和mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。该数据集主要用于训练和评估机器人控制算法，特别关注视觉反馈和动作执行的性能。This dataset is a robotics dataset specifically designed for pick-and-place tasks, involving single-step operations with five building blocks. It contains a total of 251 episodes and 111,814 frames, collected at a rate of 30 frames per second. The data features include robot actions (such as positions of the shoulder, elbow, wrist, and gripper) and observation states (which also include these position details), as well as video images from top and wrist cameras (with a resolution of 480x640, 3 channels). Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The robot type is so_follower, and the data is stored in parquet and mp4 formats, with a total data file size of 100MB and a video file size of 200MB. This dataset is primarily used for training and evaluating robot control algorithms, with a particular focus on visual feedback and action execution.

原始信息汇总

数据集概述

• 名称: pick_and_place_onestep_5blocks_all_stages_clockwise_wrist_visible_merged_v1_20260706_225606
• 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 创建

数据集结构

• 数据格式: Parquet 文件（位于 data/*/*.parquet）
• 视频格式: MP4 文件（位于 videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4）
• 帧率 (FPS): 30
• 机器人类型: so_follower

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[6]	包含6个关节/夹爪位置指令：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	机器人状态，与action的命名一致
observation.images.top	video	[480, 640, 3]	顶部摄像头图像，AV1编码，yuv420p格式，30fps
observation.images.wrist	video	[480, 640, 3]	腕部摄像头图像，AV1编码，yuv420p格式，30fps
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	回合索引
index	int64	[1]	整体索引
task_index	int64	[1]	任务索引

统计信息

• 总回合数: 251
• 总帧数: 111,814
• 总任务数: 1
• 数据文件大小: 约 100 MB
• 视频文件大小: 约 200 MB
• 数据块大小: 每块 1000 帧
• 数据集分割: 全部 251 个回合用于训练（train: 0:251）