autoresearch-vibepi-000246-cucumber-grab

该数据集是一个机器人控制数据集，使用LeRobot平台创建。数据集包含一个机械臂（vibeboard_follower_tilt类型）执行任务时的多模态数据：包括机械臂的7维关节状态（肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹持器位置和倾斜位置），三个视角的视频观测（基础、顶部和腕部摄像头，分辨率480x640，20fps），以及对应的7维动作指令。数据集还包含时间戳、帧索引、任务索引和回合索引。数据以Parquet格式存储，总共有1个任务、1个回合和165帧，数据文件总大小为100MB，视频文件总大小为200MB。This dataset is a robot control dataset created using the LeRobot platform. It contains multimodal data from a robotic arm (vibeboard_follower_tilt type) performing tasks: including 7-dimensional joint states of the arm (shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, gripper position, and tilt position), video observations from three perspectives (base, top, and wrist cameras with a resolution of 480x640 and 20fps), and corresponding 7-dimensional action commands. The dataset also includes timestamps, frame indices, task indices, and episode indices. Data is stored in Parquet format, with a total of 1 task, 1 episode, and 165 frames. The total size of the data files is 100MB, and the total size of the video files is 200MB.

原始信息汇总

数据集概述

• 数据集名称: autoresearch-vibepi-000246-cucumber-grab
• 许可证: Apache-2.0
• 任务类别: 机器人技术 (robotics)
• 创建工具: LeRobot

数据集结构

• 帧率 (FPS): 20
• 机器人类型: vibeboard_follower_tilt
• 总片段数 (Total Episodes): 1
• 总帧数 (Total Frames): 165
• 总任务数 (Total Tasks): 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 划分 (Splits): 训练集 (train) 包含所有数据 (0:1)

特征 (Features)

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, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper, tilt) 的位置
observation.images.base	视频	[480, 640, 3]	底座摄像头 (base) 视频流，AV1编码，20 FPS，无音频
observation.images.top	视频	[480, 640, 3]	顶部摄像头 (top) 视频流，AV1编码，20 FPS，无音频
observation.images.wrist	视频	[480, 640, 3]	腕部摄像头 (wrist) 视频流，AV1编码，20 FPS，无音频
action	float32	[7]	机器人动作指令 (与observation.state结构相同)
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引

数据文件

• 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
• 配置名称: default
• 数据文件模式: data/*/*.parquet