grab-vibepi-iter7-corpus-v2-flat

该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含248个episodes、23738帧和66个任务，数据以20帧每秒的速率采集。数据集特征包括：动作数据（7维浮点数组，表示机器人关节位置，如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动、夹持器和倾斜位置）、观察状态（同样7维浮点数组，对应关节位置）、以及来自顶部、腕部和基座的图像观察（视频格式，分辨率为480x640，3通道，使用AV1编解码器）。此外，还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。机器人类型为vibeboard_follower_tilt。数据以Parquet文件格式存储，视频文件单独存储，总数据大小约为100MB，视频大小约为200MB。数据集用于训练和评估机器人控制模型，适用于强化学习或模仿学习任务。This dataset is a robotics dataset created using the LeRobot tool. It contains 248 episodes, 23,738 frames, and 66 tasks, with data collected at a rate of 20 frames per second. The dataset features include: action data (7-dimensional floating-point arrays representing robot joint positions, such as shoulder pan, shoulder lift, elbow bend, wrist bend, wrist roll, gripper, and tilt positions), observation states (similarly 7-dimensional floating-point arrays corresponding to joint positions), and image observations from the top, wrist, and base (in video format with a resolution of 480x640, 3 channels, using the AV1 codec). Additionally, it includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The robot type is vibeboard_follower_tilt. The data is stored in Parquet format, with video files stored separately, and the total dataset size is approximately 100MB, with video size around 200MB. The dataset is intended for training and evaluating robot control models, suitable for reinforcement learning or imitation learning tasks.

原始信息汇总

数据集概述

数据集名称: grab-vibepi-iter7-corpus-v2-flat
发布机构: VibeCuisine
许可证: Apache-2.0
任务类别: 机器人技术 (Robotics)
标签: LeRobot, vibedata-materialized-collection

数据集结构

• 代码库版本: v3.0
• 帧率 (FPS): 20
• 机器人类型: vibeboard_follower_tilt
• 总片段数 (Episodes): 248
• 总帧数 (Frames): 23,738
• 总任务数 (Tasks): 66
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 分块大小: 1,000

数据特征

特征名称	数据类型	形状	说明
action	float32	[7]	机器人动作指令，包含7个维度（如shoulder_pan.pos, gripper.pos, tilt.pos等）
observation.state	float32	[7]	机器人观测状态，与动作维度一致
observation.images.top	video	[480, 640, 3]	顶部摄像头视频，分辨率480×640，编码为AV1，帧率20 FPS
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，分辨率480×640，编码为AV1，帧率20 FPS
observation.images.base	video	[480, 640, 3]	底座摄像头视频，分辨率480×640，编码为AV1，帧率20 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

数据与视频路径

• 数据文件路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据划分

• 训练集 (train): 片段索引 0 至 247（共248个片段，覆盖全部数据）

引用信息

BibTeX引用信息当前为“更多信息待补充”（[More Information Needed]）。