piper-so101-pick-up-the-tissue-in-the-box-trim30

该数据集是使用LeRobot创建的机器人学数据集，专注于Piper机器人执行单一任务（从盒子中拾取纸巾）的场景。数据集包含60个episodes，总计20918帧，数据以parquet格式存储，视频以mp4格式存储，帧率为30fps。特征包括机器人的动作（6个关节位置）、观察状态（7个关节和夹爪位置）、两个摄像头（d405_rgb和usb_front）采集的RGB视频（分辨率480x640），以及时间戳、帧索引等元数据。数据集适用于机器人控制、视觉导航等研究。This dataset is a robotics dataset created using LeRobot, focusing on scenarios where the Piper robot performs a single task (picking up a tissue from a box). It contains 60 episodes, totaling 20,918 frames, with data stored in parquet format and videos in mp4 format at a frame rate of 30fps. Features include robot actions (6 joint positions), observation states (7 joint and gripper positions), RGB videos captured by two cameras (d405_rgb and usb_front) with a resolution of 480x640, as well as metadata such as timestamps and frame indices. The dataset is suitable for research in robot control and visual navigation.

原始信息汇总

数据集概述

• 名称: piper-so101-pick-up-the-tissue-in-the-box-trim30
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot, lerobot, piper, so101

数据集结构

• 代码库版本: v3.0
• 机器人类型: piper
• 总片段数 (episodes): 60
• 总帧数 (frames): 20918
• 总任务数 (tasks): 1
• 块大小 (chunks size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (fps): 30
• 数据分割: 训练集占全部 (train: "0:60")

特征 (Features)

特征名	数据类型	形状	名称
action	float32	(6,)	shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	(7,)	joint_1.pos, joint_2.pos, joint_3.pos, joint_4.pos, joint_5.pos, joint_6.pos, gripper.pos
observation.images.d405_rgb	video	(480, 640, 3)	height, width, channels
observation.images.usb_front	video	(480, 640, 3)	height, width, channels
timestamp	float32	(1,)	null
frame_index	int64	(1,)	null
episode_index	int64	(1,)	null
index	int64	(1,)	null
task_index	int64	(1,)	null

• 视频编码: h264
• 像素格式: yuv420p
• 非深度图
• 无音频

数据路径

• 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

引文

暂无提供。