Agilex_Cobot_Magic_put_the_orange_toy_into_the_basket

该数据集是为双臂移动ALOHA风格机器人创建的，遵循LeRobot v2.1格式，专注于任务将橙色玩具放入篮子中。它包含30个演示片段，总计15,000帧，每个片段500帧，帧率为30 FPS，仅用于训练分割。数据集包括多传感器观测：三个RGB摄像头图像（高角度摄像头、左腕摄像头、右腕摄像头，分辨率均为480x640），以及低维观测如关节状态、速度、力（各14维）和动作命令（14维）。关节涉及左右臂的腰部、肩部、肘部、前臂滚动、手腕角度、手腕旋转和夹爪。数据以Parquet文件格式存储，结构包括data/和meta/目录，其中meta/包含关键元数据。数据集适用于机器人模仿学习、遥操作等任务，并采用MIT许可证。

This dataset is created for a dual-arm mobile ALOHA-style robot, following the LeRobot v2.1 format, focusing on the task putting an orange toy into a basket. It contains 30 demonstration episodes, totaling 15,000 frames, with each episode having 500 frames at a frame rate of 30 FPS, and is only for training splits. The dataset includes multi-sensor observations: three RGB camera images (high-angle camera, left wrist camera, right wrist camera, all with a resolution of 480x640), as well as low-dimensional observations such as joint states, velocities, forces (each 14-dimensional), and action commands (14-dimensional). Joints involve waist, shoulder, elbow, forearm roll, wrist angle, wrist rotation, and gripper for both left and right arms. Data is stored in Parquet file format, structured with data/ and meta/ directories, where meta/ contains key metadata. The dataset is suitable for robot imitation learning, teleoperation, and other tasks, and uses the MIT license.

原始信息汇总

数据集概述

• 名称: Agilex Cobot Magic - Put the Orange Toy into the Basket
• 任务: 将橙色玩具放入篮子
• 机器人类型: mobile_aloha（双臂移动ALOHA式机器人）
• 格式: LeRobot v2.1
• 许可: MIT

数据规模

• 示范次数: 30
• 总帧数: 15,000
• 每段示范帧数: 500
• 帧率: 30 FPS
• 数据划分: 仅训练集（train）
• 视频文件: 无
• 图像观测: 嵌入在Parquet文件中

传感器与动作

相机观测（图像）

• observation.images.cam_high: 480 × 640 RGB
• observation.images.cam_left_wrist: 480 × 640 RGB
• observation.images.cam_right_wrist: 480 × 640 RGB

低维观测与动作

• observation.state: 14维
• observation.velocity: 14维
• observation.effort: 14维
• action: 14维

关节名称（14个）

• left_waist, left_shoulder, left_elbow, left_forearm_roll, left_wrist_angle, left_wrist_rotate, left_gripper
• right_waist, right_shoulder, right_elbow, right_forearm_roll, right_wrist_angle, right_wrist_rotate, right_gripper

数据集结构

. ├── data/ │ └── chunk-000/ │ ├── episode_000000.parquet │ ├── episode_000001.parquet │ └── ... └── meta/ ├── episodes.jsonl ├── episodes_stats.jsonl ├── info.json └── tasks.jsonl

加载方式

python from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Str0keOOOO/Agilex_Cobot_Magic_put_the_orange_toy_into_the_basket") sample = dataset[0] print(sample.keys())