fold_towel_20260707_09_20260707_181327
收藏资源简介：
该数据集由LeRobot创建，专注于机器人技术任务，具体涉及双机器人手臂操作。数据集包含10个训练集，总计9937帧数据，以30帧每秒记录。数据包括动作（action）和状态（observation.state）信息，涵盖左右机器人手臂各7个关节和1个夹爪的位置数据。观测部分包括来自顶部、右手腕和左手腕摄像头的视频数据，分辨率为480x640，3通道。数据集以parquet和mp4格式存储，总数据大小约为300MB。任务类型为bi_openarm_follower，表示双机器人手臂跟随操作。
This dataset is created by LeRobot and focuses on robotics tasks, specifically involving dual-robot arm manipulation. It contains 10 training sets, totaling 9937 frames recorded at 30 frames per second. The data includes action and observation.state information, covering position data for 7 joints and 1 gripper per arm (left and right robot arms). Observations include video data from top, right wrist, and left wrist cameras with a resolution of 480x640 and 3 channels. The dataset is stored in parquet and mp4 formats, with a total data size of approximately 300MB. The task type is bi_openarm_follower, indicating dual-robot arm following operation.
数据集概述
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 许可证: Apache-2.0
- 数据集创建工具: LeRobot
数据集结构
- 数据格式: Parquet 文件，位于
data/*/*.parquet - 帧率 (fps): 30
- 总片段数 (episodes): 10
- 总帧数 (frames): 9937
- 总任务数: 1
- 机器人类型: bi_openarm_follower
- 数据划分: 仅包含训练集 (
train: "0:10")
特征字段
| 字段 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
action |
float32 | (16,) | 16维动作指令，包含左右臂各7个关节位置和夹爪位置 |
observation.state |
float32 | (16,) | 16维机器人状态观测，结构与动作相同 |
observation.images.top |
video | (480, 640, 3) | 顶部摄像头视频，分辨率480x640，AV1编码，30fps |
observation.images.right_wrist |
video | (480, 640, 3) | 右腕部摄像头视频，参数同上 |
observation.images.left_wrist |
video | (480, 640, 3) | 左腕部摄像头视频，参数同上 |
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
- 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 - 数据文件总大小: 100 MB
- 视频文件总大小: 200 MB
可视化
可通过 LeRobot 可视化工具查看数据集：https://huggingface.co/spaces/lerobot/visualize_dataset?path=access-robotics-team/fold_towel_20260707_09_20260707_181327
