taccap-g1-sort-trash-cards-0714
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot框架创建，专门针对双TacCap夹爪机器人（bi_taccap_gripper）。数据集包含30个完整episodes，总计142,123帧，涉及一个任务（可能是分类垃圾卡片任务，从数据集名称推断）。数据以30fps的帧率采集，包括动作数据（如左右夹爪的TCP位置、旋转和夹爪位置）、观测状态数据（与动作相同维度），以及多个图像观测：左右触觉传感器图像（分辨率400x700，3通道）和左右手腕摄像头图像（分辨率480x640，3通道），所有图像以视频格式存储。数据集结构包含时间戳、帧索引、episode索引等元数据，适用于机器人学习任务，如模仿学习或强化学习。数据以Apache 2.0许可证发布。
This dataset is a robotic manipulation dataset created using the LeRobot framework, specifically designed for the bi_taccap_gripper (dual TacCap gripper robot). It contains 30 complete episodes, totaling 142,123 frames, and involves a single task (likely a trash card sorting task, inferred from the dataset name). Data is collected at a frame rate of 30fps, including action data (such as TCP positions, rotations, and gripper positions for both left and right grippers), observation state data (with the same dimensions as actions), and multiple image observations: left and right tactile sensor images (resolution 400x700, 3 channels) and left and right wrist camera images (resolution 480x640, 3 channels), all stored in video format. The dataset structure includes metadata such as timestamps, frame indices, and episode indices, making it suitable for robotic learning tasks like imitation learning or reinforcement learning. The data is released under the Apache 2.0 license.
数据集概述：taccap-g1-sort-trash-cards-0714
- 许可证：Apache-2.0
- 任务类别：机器人学 (Robotics)
- 创建工具：使用 LeRobot 创建
数据集结构
- 机器人类型：bi_taccap_gripper
- 总片段数：30
- 总帧数：142,123
- 总任务数：1
- FPS：30
- 数据文件大小：约 100 MB
- 视频文件大小：约 200 MB
- 数据划分：全部 30 个片段用于训练
特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (20,) | 20维动作，包括左右TCP位姿和夹爪位置 |
observation.state |
float32 | (20,) | 20维状态，与动作维度一致 |
observation.images.left_tactile_left |
video | (400, 700, 3) | 左侧左触觉摄像头视频，h264编码，30fps |
observation.images.left_tactile_right |
video | (400, 700, 3) | 左侧右触觉摄像头视频，h264编码，30fps |
observation.images.left_wrist |
video | (480, 640, 3) | 左腕部摄像头视频，h264编码，30fps |
observation.images.right_tactile_left |
video | (400, 700, 3) | 右侧左触觉摄像头视频，h264编码，30fps |
observation.images.right_tactile_right |
video | (400, 700, 3) | 右侧右触觉摄像头视频，h264编码，30fps |
observation.images.right_wrist |
video | (480, 640, 3) | 右腕部摄像头视频，h264编码，30fps |
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 |
数据文件
- 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 - 元数据文件：
meta/info.json
引用
bibtex @misc{xense-taccap-lerobot, author = {XenseRobotics Team}, title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support}, howpublished = {url{https://github.com/Vertax42/xense-taccap-lerobot}}, year = {2026} }
