example_dataset_2
收藏魔搭社区2025-08-16 更新2025-08-23 收录
下载链接：
https://modelscope.cn/datasets/RoboCoin/example_dataset_2
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资源简介：
## Dataset Authors
This dataset is contributed by [[RobotCoin](https://RobotCoin.github.io)]
This dataset is annotated by [[RobotCoin](https://RobotCoin.github.io)]
## Dataset Description
This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.
- **Homepage:** https://RobotCoin.github.io/
- **Paper:** in comming
- **License:** apache-2.0
## Dataset Tags
- RobotCoin
- LeRobot
## Task Descriptions
### tasks
stack basket
### sub_tasks
Pick up the light basket with the right gripper
Place the dark basket in the center of view with the left gripper
Place the dark basket on the light basket with the right gripper
Pick up the light basket with the left gripper
Pick up the dark basket with the right gripper
Place the light basket in the center of view with the left gripper
Pick up the dark basket with the left gripper
Place the light basket on the dark basket with the right gripper
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "realman",
"total_episodes": 499,
"total_frames": 290587,
"total_tasks": 1,
"total_videos": 1497,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:499"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"states": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"actions": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
```bibtex
```
## 数据集作者
本数据集由[RobotCoin](https://RobotCoin.github.io) 贡献并完成标注。
## 数据集描述
本数据集采用基于LeRobot（https://github.com/huggingface/lerobot）的扩展格式，且与LeRobot完全兼容。
- **主页**：https://RobotCoin.github.io/
- **论文**：即将发布
- **许可证**：Apache-2.0
## 数据集标签
- RobotCoin
- LeRobot
## 任务描述
### 主任务
堆叠篮筐
### 子任务
1. 使用右侧机械爪抓取浅色篮筐
2. 使用左侧机械爪将深色篮筐放置于视野中心
3. 使用右侧机械爪将深色篮筐放置于浅色篮筐之上
4. 使用左侧机械爪抓取浅色篮筐
5. 使用右侧机械爪抓取深色篮筐
6. 使用左侧机械爪将浅色篮筐放置于视野中心
7. 使用左侧机械爪抓取深色篮筐
8. 使用右侧机械爪将浅色篮筐放置于深色篮筐之上
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.1",
"机器人类型": "realman",
"总轨迹数": 499,
"总帧数": 290587,
"总任务数": 1,
"总视频数": 1497,
"总分块数": 1,
"分块大小": 1000,
"帧率": 25,
"数据集划分": {
"训练集": "0:499"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征": {
"观测.图像.顶置摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道数"
],
"信息": {
"视频.帧率": 25.0,
"视频.高度": 480,
"视频.宽度": 640,
"视频.通道数": 3,
"视频.编码格式": "h264",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"不包含音频": false
}
},
"观测.图像.左侧腕部摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道数"
],
"信息": {
"视频.帧率": 25.0,
"视频.高度": 480,
"视频.宽度": 640,
"视频.通道数": 3,
"视频.编码格式": "h264",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"不包含音频": false
}
},
"观测.图像.右侧腕部摄像头": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道数"
],
"信息": {
"视频.帧率": 25.0,
"视频.高度": 480,
"视频.宽度": 640,
"视频.通道数": 3,
"视频.编码格式": "h264",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"不包含音频": false
}
},
"状态": {
"数据类型": "float32",
"形状": [
30
],
"命名": [
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"右机械臂关节7",
"右机械爪关节",
"右末端执行器X位置",
"右末端执行器Y位置",
"右末端执行器Z位置",
"右末端执行器四元数X",
"右末端执行器四元数Y",
"右末端执行器四元数Z",
"右末端执行器四元数W",
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"左机械臂关节7",
"左机械爪关节",
"左末端执行器X位置",
"左末端执行器Y位置",
"左末端执行器Z位置",
"左末端执行器四元数X",
"左末端执行器四元数Y",
"左末端执行器四元数Z",
"左末端执行器四元数W"
]
},
"动作": {
"数据类型": "float32",
"形状": [
30
],
"命名": [
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"右机械臂关节7",
"右机械爪关节",
"右末端执行器X位置",
"右末端执行器Y位置",
"右末端执行器Z位置",
"右末端执行器四元数X",
"右末端执行器四元数Y",
"右末端执行器四元数Z",
"右末端执行器四元数W",
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"左机械臂关节7",
"左机械爪关节",
"左末端执行器X位置",
"左末端执行器Y位置",
"左末端执行器Z位置",
"左末端执行器四元数X",
"左末端执行器四元数Y",
"左末端执行器四元数Z",
"左末端执行器四元数W"
]
},
"下一帧终止标记": {
"数据类型": "bool",
"形状": [
1
],
"命名": null
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
},
"样本索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
}
}
}
## 引用
bibtex
提供机构：
maas
创建时间：
2025-08-13
