panda-pick-cube-keyboard

该数据集是一个机器人操作数据集，专门用于训练和评估机器人控制算法。它包含20个总剧集和1161个总帧，数据以10帧每秒的速率采集。数据集特征包括：动作数据（4维浮点数组，表示机器人在x、y、z方向的增量移动和夹爪状态）、观察数据（包括前置摄像头和腕部摄像头的视频图像，均为3通道128x128分辨率，以及18维的机器人状态向量）、奖励信号、完成标志、时间戳、帧索引、剧集索引等。数据集结构设计用于强化学习任务，支持机器人抓取和操作场景，例如拾取立方体或键盘任务（从上下文推断）。数据以Parquet文件格式存储，视频文件以MP4格式存储，总数据大小约为300MB（数据文件100MB，视频文件200MB）。数据集适用于机器人学研究和机器学习模型训练。

This dataset is a robotic manipulation dataset specifically designed for training and evaluating robot control algorithms. It contains 20 total episodes and 1161 total frames, with data collected at a rate of 10 frames per second. Dataset features include: action data (4-dimensional float array representing incremental movements of the robot in x, y, z directions and gripper state), observation data (including video images from front and wrist cameras, both with 3 channels and 128x128 resolution, along with an 18-dimensional robot state vector), reward signals, completion flags, timestamps, frame indices, episode indices, etc. The dataset structure is designed for reinforcement learning tasks, supporting robot grasping and manipulation scenarios, such as picking up cubes or keyboard tasks (inferred from context). Data is stored in Parquet file format, video files in MP4 format, with a total data size of approximately 300MB (100MB for data files and 200MB for video files). The dataset is suitable for robotics research and machine learning model training.

原始信息汇总

数据集概述

数据集名称: panda-pick-cube-keyboard
许可证: Apache-2.0
任务类别: 机器人学 (Robotics)
标签: LeRobot
数据集创建工具: LeRobot

数据集结构

• 代码库版本: v3.0
• 帧率 (FPS): 10
• 总片段数 (Episodes): 20
• 总帧数 (Frames): 1161
• 总任务数 (Tasks): 1
• 数据分块大小: 1000
• 数据文件大小: 约 100 MB
• 视频文件大小: 约 200 MB

数据特征

特征名称	数据类型	形状	说明
action	float32	[4]	包含 delta_x, delta_y, delta_z, gripper
next.reward	float32	[1]	奖励值
next.done	bool	[1]	是否结束
complementary_info.discrete_penalty	float32	[1]	离散惩罚项
observation.images.front	video	[3, 128, 128]	前端摄像头图像（128x128，3通道）
observation.images.wrist	video	[3, 128, 128]	腕部摄像头图像（128x128，3通道）
observation.state	float32	[18]	机器人状态
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

视频编码信息

• 编码格式: AV1
• 像素格式: yuv420p
• 帧率: 10 FPS
• 分辨率: 128x128
• 通道数: 3

数据分割

• 训练集: episodes 0 到 19

数据文件路径

• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4