act_rightbiscuit_20260728_174631
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建。它包含一个episode，共593帧数据，采样频率为30 FPS。数据集的特征包括：动作数据（7维浮点数组，表示6个关节和夹爪的位置）、观察状态（同样为7维浮点数组，记录关节和夹爪位置）、图像观察（包括全局摄像头和夹爪摄像头的RGB视频及深度视频，分辨率均为480x640像素，RGB视频为3通道，深度视频为1通道）。此外，还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集采用Apache 2.0许可证，数据以Parquet格式存储，视频以MP4格式存储，适用于机器人控制、视觉导航等研究任务。
This dataset is a robotics dataset created using the LeRobot tool. It contains one episode with 593 frames of data, sampled at 30 FPS. The features include: action data (a 7-dimensional floating-point array representing the positions of 6 joints and the gripper), observation state (also a 7-dimensional floating-point array recording joint and gripper positions), and image observations (including RGB and depth videos from both a global camera and a gripper camera, with a resolution of 480x640 pixels, where RGB videos have 3 channels and depth videos have 1 channel). Additionally, it includes metadata such as timestamps, frame index, episode index, and task index. The dataset is licensed under Apache 2.0, with data stored in Parquet format and videos in MP4 format, suitable for research tasks like robot control and visual navigation.
数据集概述
- 数据集名称: act_rightbiscuit_20260728_174631
- 数据集链接: https://huggingface.co/datasets/vis22/act_rightbiscuit_20260728_174631
- 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 框架创建
数据集规模
- 总 episodes: 1
- 总帧数: 593
- 总任务数: 1
- 帧率: 30 FPS
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据集结构
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (7,) | 包含7个关节位置：joint_1.pos, joint_2.pos, joint_3.pos, joint_4.pos, joint_5.pos, joint_6.pos, gripper.pos |
observation.state |
float32 | (7,) | 与action相同的7个关节位置状态 |
observation.images.cam_global |
video | (480, 640, 3) | 全局摄像头RGB视频，编码为av1，30 FPS |
observation.images.cam_global_depth |
video | (480, 640, 1) | 全局摄像头深度图，编码为hevc（无损耗），30 FPS，深度单位mm，范围0.01-10.0米 |
observation.images.cam_gripper |
video | (480, 640, 3) | 夹爪摄像头RGB视频，编码为av1，30 FPS |
observation.images.cam_gripper_depth |
video | (480, 640, 1) | 夹爪摄像头深度图，编码为hevc（无损耗），30 FPS，深度单位mm，范围0.01-10.0米 |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | episode索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据划分
- 训练集: 包含所有数据（split "train": "0:1"）
机器人类型
- 机器人型号:
piper_follower
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
