Aibot2_merged_2026_06_24_and_2026_07_10_top_right
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot创建，专门针对aibot2机器人。它包含219个episodes，总计21349帧，覆盖2个不同任务。数据以parquet文件格式存储，视频以mp4格式存储，帧率为10fps。数据集特征包括：动作（action），为16维浮点数组，表示左右机械臂的位置（x, y, z）和四元数（qx, qy, qz, qw）以及左右夹爪的位置；观测状态（observation.state），为16维浮点数组，表示左右机械臂各7个关节的位置以及左右夹爪关节位置；图像观测（observation.images），包括四个摄像头（camera_front、camera_left、camera_right、camera_top）的视频数据，每个视频分辨率为240x320，3通道彩色，使用av1编解码器；此外还有时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集仅包含训练集（splits为train:0:219），数据文件总大小为100MB，视频文件总大小为200MB。
This dataset is a robotics dataset created using LeRobot, specifically for the aibot2 robot. It contains 219 episodes, totaling 21349 frames, covering 2 different tasks. The data is stored in parquet file format, with videos in mp4 format at a frame rate of 10fps. Dataset features include: action (a 16-dimensional float array representing the position (x, y, z) and quaternion (qx, qy, qz, qw) of the left and right robotic arms, as well as the position of the left and right grippers); observation.state (a 16-dimensional float array representing the joint positions of the left and right robotic arms (7 joints each) and the joint positions of the left and right grippers); observation.images (including video data from four cameras: camera_front, camera_left, camera_right, camera_top, each with a resolution of 240x320, 3-channel color, using the av1 codec); additionally, there are metadata such as timestamps, frame index, episode index, index, and task index. The dataset only includes a training set (splits as train:0:219), with a total data file size of 100MB and a total video file size of 200MB.
数据集概述
- 数据集名称: Aibot2_merged_2026_06_24_and_2026_07_10_top_right
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: 使用 LeRobot 创建
- 机器人类型: aibot2
数据集规模
- 总演示回合数 (Episodes): 219
- 总帧数 (Frames): 21,349
- 总任务数 (Tasks): 2
- 采样率 (FPS): 10
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据分块大小: 1,000
- 数据划分: 训练集 (train) 包含全部 219 个回合
数据结构
该数据集包含以下特征：
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [16] | 机器人动作，包含双臂 (左/右) 的位置、姿态 (四元数) 和夹爪位置 |
observation.state |
float32 | [16] | 机器人状态，包含双臂7个关节位置和2个夹爪关节位置 |
observation.images.camera_front |
video | [240, 320, 3] | 前置摄像头视频 (AV1编码, 10 FPS) |
observation.images.camera_left |
video | [240, 320, 3] | 左侧摄像头视频 (AV1编码, 10 FPS) |
observation.images.camera_right |
video | [240, 320, 3] | 右侧摄像头视频 (AV1编码, 10 FPS) |
observation.images.camera_top |
video | [240, 320, 3] | 顶部摄像头视频 (AV1编码, 10 FPS) |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 回合索引 |
index |
int64 | [1] | 索引 |
task_index |
int64 | [1] | 任务索引 |
数据路径
- 主数据文件:
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
