libero_spatial_sawyer_additionalCams_failures

该数据集是一个机器人学数据集，使用LeRobot工具创建，专门针对Sawyer机器人。它包含420个训练集，总帧数为53266，覆盖10个不同任务。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为20fps。数据集的特征包括观察状态（如末端执行器状态、关节状态、夹爪状态）、图像（前视图和侧视图的RGB视频，分辨率为256x256）、动作（7维浮点数）、时间戳、帧索引、集索引、索引和任务索引。这些数据用于机器人控制和视觉任务的研究与开发。This dataset is a robotics dataset created using the LeRobot tool, specifically designed for the Sawyer robot. It includes 420 training sets, with a total of 53,266 frames, covering 10 different tasks. The data is stored in parquet format, with a total data file size of 100MB, video file size of 200MB, and a frame rate of 20fps. The dataset features observation states (such as end-effector state, joint state, gripper state), images (RGB videos from front and side views, with a resolution of 256x256), actions (7-dimensional floating-point numbers), timestamps, frame indices, set indices, indices, and task indices. This data is used for research and development in robot control and vision tasks.

原始信息汇总

数据集概述

• 数据集名称: libero_spatial_sawyer_additionalCams_failures
• 数据集地址: OliverHausdoerfer/libero_spatial_sawyer_additionalCams_failures
• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot, libero, sawyer, libero_spatial_sawyer_additionalCams_failures
• 创建工具: LeRobot

数据集规模与结构

属性	值
机器人类型	Sawyer
总集数 (Episodes)	420
总帧数 (Frames)	53,266
总任务数 (Tasks)	10
数据块大小 (Chunks Size)	1,000
数据文件大小	100 MB
视频文件大小	200 MB
帧率 (FPS)	20
训练集划分	0:420 (全部用于训练)

数据特征

特征名称	数据类型	形状	描述
observation.state	float32	[8]	机器人状态：x, y, z, axis_angle1-3, gripper (2个)
observation.states.ee_state	float32	[6]	末端执行器状态：x, y, z, axis_angle1-3
observation.states.joint_state	float32	[7]	关节状态：joint_0 ~ joint_6
observation.states.gripper_state	float32	[2]	夹爪状态：gripper (2个)
observation.images.frontview_image	video	[256, 256, 3]	前视摄像头图像 (AV1编码, 20 FPS)
observation.images.sideview_image	video	[256, 256, 3]	侧视摄像头图像 (AV1编码, 20 FPS)
action	float32	[7]	动作指令：x, y, z, axis_angle1-3, gripper
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

数据存储

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet (Parquet格式)
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 (MP4格式)