peg-in-hole
收藏资源简介：
该数据集使用LeRobot框架创建，是一个专门用于双机械臂协同任务的机器人操作数据集。它包含30个训练片段，总计25663帧数据，任务类型单一。机器人平台为bi_piper_follower双机械臂系统。数据特征包括：14维动作向量（左右机械臂各6个关节位置和夹爪位置）、14维状态观测向量（与动作向量结构相同），以及来自四个摄像头的视频观测数据：左主摄像头（1280x720分辨率）、左腕部摄像头（640x480分辨率）、左顶部摄像头（640x480分辨率）和右腕部摄像头（640x480分辨率），所有视频均为彩色（3通道），帧率30fps。数据以parquet格式存储，视频以mp4格式存储，并采用Apache 2.0许可证。
This dataset is created using the LeRobot framework and is a robot manipulation dataset specifically designed for dual-arm collaborative tasks. It contains 30 training episodes, totaling 25663 frames of data, with a single task type. The robot platform is the bi_piper_follower dual-arm system. Data features include: a 14-dimensional action vector (6 joint positions and gripper position for each of the left and right arms), a 14-dimensional state observation vector (with the same structure as the action vector), and video observation data from four cameras: left main camera (1280x720 resolution), left wrist camera (640x480 resolution), left top camera (640x480 resolution), and right wrist camera (640x480 resolution). All videos are in color (3 channels) with a frame rate of 30fps. The data is stored in parquet format, videos in mp4 format, and the dataset is licensed under Apache 2.0.
数据集概述
数据集规模与结构
- 总片段数 (episodes): 30
- 总帧数 (frames): 25663
- 总任务数 (tasks): 1
- 帧率 (fps): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据划分:
- 训练集: 0 至 29 号片段 (共 30 个片段)
数据集特征
动作 (action) 与状态 (observation.state)
- 数据类型: float32
- 维度: 14
- 特征名称: 左右各 6 个关节位置 + 1 个夹爪位置
视觉观测 (observation.images)
- 摄像头类型及分辨率:
left_main: 720 x 1280 x 3 像素 (RGB视频)left_wrist: 480 x 640 x 3 像素 (RGB视频)left_top: 480 x 640 x 3 像素 (RGB视频)right_wrist: 480 x 640 x 3 像素 (RGB视频)
- 视频编码: AV1, 30 fps, 无音频, 非深度图
其他字段
timestamp: float32, 形状 [1]frame_index: int64, 形状 [1]episode_index: int64, 形状 [1]index: int64, 形状 [1]task_index: int64, 形状 [1]
机器人类型
- 机器人: bi_piper_follower
