task2_recovery_rgb
收藏资源简介：
该数据集是一个针对双UR5e机器人的机器人操作数据集，使用LeRobot框架创建。包含62个episode，共146490帧，所有episode属于同一个任务。数据特征包括：左右臂的6个关节位置和速度（共12维）、左右臂关节状态和夹爪状态（共14维）、动作（目标左右臂关节和夹爪共14维）、夹爪位置（2维）、以及来自四个摄像头（前方、顶部、左腕、右腕）的RGB图像（分辨率240x424，30 fps，AV1编码）。此外还有时间戳、帧索引、episode索引等元数据。数据集可用于模仿学习或机器人控制任务。
This dataset is a robotic manipulation dataset for dual UR5e robots, created using the LeRobot framework. It contains 62 episodes with a total of 146,490 frames, all belonging to the same task. Data features include: joint positions and velocities of the left and right arms (6 each, totalling 12 dimensions), joint states and gripper states of both arms (14 dimensions), actions (target joint positions and gripper states for both arms, totalling 14 dimensions), gripper positions (2 dimensions), and RGB images from four cameras (front, top, left wrist, right wrist) with resolution 240x424 at 30 fps, encoded in AV1. Additionally, metadata such as timestamps, frame indices, and episode indices are included. The dataset can be used for imitation learning or robot control tasks.
数据集概述
基本信息
- 数据集地址：https://huggingface.co/datasets/takeru01/task2_recovery_rgb
- 许可证：apache-2.0
- 任务类别：robotics
- 标签：LeRobot
- 创建工具：LeRobot（https://github.com/huggingface/lerobot）
- 机器人类型：dual_ur5e_rosbag
- 可视化地址：https://huggingface.co/spaces/lerobot/visualize_dataset?path=takeru01/task2_recovery_rgb
数据集描述
- 主页：More Information Needed
- 论文：More Information Needed
- 许可证：apache-2.0
数据集结构
基本配置
- 代码库版本：v3.0
- 帧率（fps）：30
- 总回合数（total_episodes）：62
- 总帧数（total_frames）：146490
- 总任务数（total_tasks）：1
- 分块大小（chunks_size）：1000
- 数据文件大小（data_files_size_in_mb）：100 MB
- 视频文件大小（video_files_size_in_mb）：200 MB
- 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
- 划分（splits）：train: 0:62
特征（Features）
observation.state
- 数据类型：float32
- 形状：[14]
- 名称：arm_left_joint_0, arm_left_joint_1, arm_left_joint_2, arm_left_joint_3, arm_left_joint_4, arm_left_joint_5, arm_right_joint_0, arm_right_joint_1, arm_right_joint_2, arm_right_joint_3, arm_right_joint_4, arm_right_joint_5, arm_left_gripper, arm_right_gripper
observation.joint_position
- 数据类型：float32
- 形状：[12]
- 名称：arm_left_joint_0, arm_left_joint_1, arm_left_joint_2, arm_left_joint_3, arm_left_joint_4, arm_left_joint_5, arm_right_joint_0, arm_right_joint_1, arm_right_joint_2, arm_right_joint_3, arm_right_joint_4, arm_right_joint_5
observation.joint_velocity
- 数据类型：float32
- 形状：[12]
- 名称：arm_left_joint_0, arm_left_joint_1, arm_left_joint_2, arm_left_joint_3, arm_left_joint_4, arm_left_joint_5, arm_right_joint_0, arm_right_joint_1, arm_right_joint_2, arm_right_joint_3, arm_right_joint_4, arm_right_joint_5
action
- 数据类型：float32
- 形状：[14]
- 名称：target_arm_left_joint_0, target_arm_left_joint_1, target_arm_left_joint_2, target_arm_left_joint_3, target_arm_left_joint_4, target_arm_left_joint_5, target_arm_right_joint_0, target_arm_right_joint_1, target_arm_right_joint_2, target_arm_right_joint_3, target_arm_right_joint_4, target_arm_right_joint_5, target_arm_left_gripper, target_arm_right_gripper
observation.gripper_position
- 数据类型：float32
- 形状：[2]
- 名称：arm_left_gripper, arm_right_gripper
observation.images.camera_front
- 数据类型：video
- 形状：[240, 424, 3]
- 名称：height, width, channels
- 信息：
- video.height: 240
- video.width: 424
- video.codec: av1
- video.pix_fmt: yuv420p
- video.is_depth_map: false
- video.fps: 30
- video.channels: 3
- has_audio: false
- video.g: 2
- video.crf: 30
- video.preset: 12
- video.fast_decode: 0
- video.video_backend: pyav
- video.extra_options: {}
observation.images.camera_top
- 数据类型：video
- 形状：[240, 424, 3]
- 名称：height, width, channels
- 信息：
- video.height: 240
- video.width: 424
- video.codec: av1
- video.pix_fmt: yuv420p
- video.is_depth_map: false
- video.fps: 30
- video.channels: 3
- has_audio: false
- video.g: 2
- video.crf: 30
- video.preset: 12
- video.fast_decode: 0
- video.video_backend: pyav
- video.extra_options: {}
observation.images.camera_left_wrist
- 数据类型：video
- 形状：[240, 424, 3]
- 名称：height, width, channels
- 信息：
- video.height: 240
- video.width: 424
- video.codec: av1
- video.pix_fmt: yuv420p
- video.is_depth_map: false
- video.fps: 30
- video.channels: 3
- has_audio: false
- video.g: 2
- video.crf: 30
- video.preset: 12
- video.fast_decode: 0
- video.video_backend: pyav
- video.extra_options: {}
observation.images.camera_right_wrist
- 数据类型：video
- 形状：[240, 424, 3]
- 名称：height, width, channels
- 信息：
- video.height: 240
- video.width: 424
- video.codec: av1
- video.pix_fmt: yuv420p
- video.is_depth_map: false
- video.fps: 30
- video.channels: 3
- has_audio: false
- video.g: 2
- video.crf: 30
- video.preset: 12
- video.fast_decode: 0
- video.video_backend: pyav
- video.extra_options: {}
timestamp
- 数据类型：float32
- 形状：[1]
- 名称：null
frame_index
- 数据类型：int64
- 形状：[1]
- 名称：null
episode_index
- 数据类型：int64
- 形状：[1]
- 名称：null
index
- 数据类型：int64
- 形状：[1]
- 名称：null
task_index
- 数据类型：int64
- 形状：[1]
- 名称：null
引用
BibTeX：
bibtex [More Information Needed]
