autoresearch-vibepi-000238-cucumber-grab

该数据集是一个基于LeRobot工具创建的机器人学习数据集，包含机器人执行任务时的多模态数据。具体数据包括：机器人状态观察，由7个浮点数表示的关节位置（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动、夹持器位置和倾斜位置）；来自三个视角（base、top、wrist）的视频观察，每个视频分辨率为480x640，3通道，帧率20fps，编码为av1；以及相应的动作数据（7个浮点数表示的关节位置）。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集规模为1个episode、61帧、1个任务，以parquet格式存储，总数据文件大小约100MB，视频文件大小约200MB，机器人类型为vibeboard_follower_tilt，适用于机器人控制、强化学习等任务。This dataset is a robot learning dataset created using the LeRobot tool, containing multimodal data from robot task execution. The data includes: robot state observations represented by 7 floating-point numbers for joint positions (e.g., shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist roll, gripper position, and tilt position); video observations from three perspectives (base, top, wrist), each with a resolution of 480x640, 3 channels, a frame rate of 20fps, and encoded as av1; and corresponding action data (7 floating-point numbers for joint positions). Additionally, the dataset includes metadata such as timestamps, frame indices, episode indices, and task indices. The dataset consists of 1 episode, 61 frames, and 1 task, stored in parquet format with a total data file size of approximately 100MB and video file size of approximately 200MB. The robot type is vibeboard_follower_tilt, and it is suitable for tasks like robot control and reinforcement learning.

原始信息汇总

数据集概述

• 名称: autoresearch-vibepi-000238-cucumber-grab
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 创建工具: 基于 LeRobot 创建

数据集结构

• 数据格式: Parquet (.parquet) 和 MP4 视频文件
• 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
• 帧率 (FPS): 20
• 机器人类型: vibeboard_follower_tilt

特征说明

特征名称	数据类型	形状	描述
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	[480, 640, 3]	基座摄像头图像 (RGB, 480x640, AV1编码)
observation.images.top	视频	[480, 640, 3]	顶部摄像头图像 (RGB, 480x640, AV1编码)
observation.images.wrist	视频	[480, 640, 3]	腕部摄像头图像 (RGB, 480x640, AV1编码)
action	float32	[7]	动作指令 (与state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]	全局索引
task_index	int64	[1]	任务索引

统计信息

• 总片段数 (total_episodes): 1
• 总帧数 (total_frames): 61
• 总任务数 (total_tasks): 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 训练/测试划分: 仅包含训练集 (train: 0:1)

可视化

• 可通过 可视化工具 预览数据集。