autoresearch-vibepi-000232-cucumber-grab
收藏资源简介：
该数据集是一个机器人控制数据集，使用LeRobot工具创建。它包含一个episode，总共有56帧数据，帧率为20fps。数据集提供了多模态观测，包括机器人状态（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动、夹爪和倾斜位置，共7个浮点数）以及来自三个摄像头（base、top、wrist）的视频图像，每个视频的分辨率为480x640，3通道RGB格式，使用AV1编解码器。动作数据对应7个关节位置。此外，数据集还包括时间戳、帧索引、episode索引、任务索引和全局索引。数据以Parquet文件格式存储，视频以MP4格式存储，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为vibeboard_follower_tilt，数据集仅包含训练分割。
This dataset is a robot control dataset created using the LeRobot tool. It contains one episode with a total of 56 frames at a frame rate of 20fps. The dataset provides multimodal observations, including robot state (such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist roll, gripper, and tilt positions, totaling 7 floating-point numbers) and video images from three cameras (base, top, wrist). Each video has a resolution of 480x640, 3-channel RGB format, and uses the AV1 codec. The action data corresponds to 7 joint positions. Additionally, the dataset includes timestamps, frame index, episode index, task index, and global index. The data is stored in Parquet file format, with videos in MP4 format; the total data file size is 100MB, and the video file size is 200MB. The robot type is vibeboard_follower_tilt, and the dataset only includes a training split.
数据集概述
- 名称: autoresearch-vibepi-000232-cucumber-grab
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: 基于 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 帧率 (fps): 20
- 总片段数 (episodes): 1
- 总帧数 (frames): 56
- 总任务数 (tasks): 1
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 机器人类型: vibeboard_follower_tilt
数据特征
| 特征名称 | 数据类型 | 维度 | 说明 |
|---|---|---|---|
observation.state |
float32 | [7] | 机器人关节状态：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos, tilt.pos |
observation.images.base |
视频 | 480x640x3 | 基础摄像头图像，AV1编码，20fps |
observation.images.top |
视频 | 480x640x3 | 顶部摄像头图像，AV1编码，20fps |
observation.images.wrist |
视频 | 480x640x3 | 腕部摄像头图像，AV1编码，20fps |
action |
float32 | [7] | 机器人动作指令，与状态维度相同 |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 片段索引 |
index |
int64 | [1] | 总索引 |
task_index |
int64 | [1] | 任务索引 |
数据划分
- 训练集 (train): 索引范围 0 到 1（即全部数据）
文件路径结构
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
