openarm_teleop_udp_d435_20260723_195818_success_lerobot
收藏资源简介：
该数据集使用LeRobot创建，专注于机器人学领域，特别针对双机械臂跟随系统（bi_openarm_follower）。它包含49个总情节和28,872个总帧，数据以每秒30帧的速率记录。数据集的结构包括观察状态（如左右机械臂的7个关节位置和夹爪位置）、动作数据（与观察状态结构相同）、观察速度、观察扭矩，以及来自左腕、前部和右腕摄像头的视频观察（分辨率为480x640，3通道RGB）。此外，还包括时间戳、帧索引、情节索引、索引和任务索引等元数据。数据以Parquet文件格式存储，视频文件为MP4格式，使用AV1编解码器。数据集总数据文件大小为100MB，视频文件大小为200MB，适用于机器人控制、模仿学习或强化学习任务。
This dataset is created using LeRobot and focuses on the field of robotics, specifically targeting the bi_openarm_follower system for dual robotic arms. It contains a total of 49 episodes and 28,872 frames, recorded at a rate of 30 frames per second. The dataset structure includes observation states (such as the 7 joint positions and gripper positions for the left and right arms), action data (with the same structure as observation states), observation velocities, observation torques, and video observations from left wrist, front, and right wrist cameras (with a resolution of 480x640, 3-channel RGB). Additionally, metadata such as timestamps, frame indices, episode indices, indices, and task indices are included. The data is stored in Parquet file format, with video files in MP4 format using the AV1 codec. The total data file size is 100MB, and the video file size is 200MB, making it suitable for robotics control, imitation learning, or reinforcement learning tasks.
数据集概述
- 数据集名称:
nkmurst/openarm_teleop_udp_d435_20260723_195818_success_lerobot - 许可证: Apache-2.0
- 任务类别: 机器人 (robotics)
- 标签: LeRobot
- 创建工具: LeRobot
数据集结构
- 版本: v3.0
- 帧率 (FPS): 30
- 总片段数 (total_episodes): 49
- 总帧数 (total_frames): 28,872
- 总任务数 (total_tasks): 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型:
bi_openarm_follower - 数据划分:
- 训练集 (train): 片段 0 至 48 (共49个片段)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
observation.state |
float32 | [16] | 包含左右各7个关节位置及夹爪位置 |
action |
float32 | [16] | 与状态对应的16维动作指令 |
observation.velocity |
float32 | [16] | 包含左右各7个关节速度及夹爪速度 |
observation.torque |
float32 | [16] | 包含左右各7个关节扭矩及夹爪扭矩 |
observation.images.left_wrist |
video (AV1编码) | [480, 640, 3] | 左腕摄像头视频，分辨率640x480，30 FPS |
observation.images.front |
video (AV1编码) | [480, 640, 3] | 前方摄像头视频，分辨率640x480，30 FPS |
observation.images.right_wrist |
video (AV1编码) | [480, 640, 3] | 右腕摄像头视频，分辨率640x480，30 FPS |
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 |
数据存储路径
- 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
备注
- 数据集中包含1个任务，所有片段均用于训练。
