Aibot2_combined_pick_object_datasets_15fps

该数据集是一个机器人操作数据集，专门用于拾取物体任务，由LeRobot工具创建。数据集包含398个训练集片段，总计80210帧，帧率为15fps。机器人类型为aibot2，数据特征包括：动作数据（16维浮点数组，表示左右机械臂的3D位置和四元数姿态，以及左右夹爪的位置）、观测状态数据（16维浮点数组，表示左右机械臂的7个关节位置和夹爪关节位置）、来自四个摄像头（前、左、右、顶部）的图像观测（每个为240x320分辨率的RGB视频，帧率25fps），以及时间戳、帧索引、片段索引等元数据。数据集结构以parquet文件格式存储，适用于机器人学习和强化学习研究。This dataset is a robot manipulation dataset specifically designed for object picking tasks, created using the LeRobot tool. It contains 398 training segments, totaling 80,210 frames at a frame rate of 15 fps. The robot type is aibot2, and data features include: action data (a 16-dimensional floating-point array representing the 3D positions and quaternion poses of the left and right robotic arms, as well as the positions of the left and right grippers), observation state data (a 16-dimensional floating-point array representing the joint positions of the left and right robotic arms (7 joints each) and gripper joint positions), image observations from four cameras (front, left, right, top) (each as RGB video with a resolution of 240x320 and a frame rate of 25 fps), and metadata such as timestamps, frame indices, and segment indices. The dataset is stored in the parquet file format and is suitable for robotics learning and reinforcement learning research.

原始信息汇总

数据集概述：Aibot2_combined_pick_object_datasets_15fps

• 主页: [More Information Needed]
• 论文: [More Information Needed]
• 许可协议: Apache-2.0

任务与标签

• 任务类别: 机器人学 (robotics)
• 标签: LeRobot

数据集结构与规模

• 机器人类型: aibot2
• 总片段数: 398 (全部用于训练)
• 总帧数: 80,210
• 总任务数: 1
• 帧率: 15 fps
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据格式: Parquet 文件，路径为 data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频格式: MP4 文件，路径为 videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据特征 (Features)

每个数据样本包含以下字段：

特征名称	数据类型	形状	描述
action	float32	[16]	机器人16维动作指令，包括左右臂的末端执行器位置(x,y,z)、四元数(qx,qy,qz,qw)及左右夹爪位置
observation.state	float32	[16]	机器人16维状态观测，包括左右臂7个关节位置以及左右夹爪关节位置
observation.images.camera_front	video (av1)	[240, 320, 3]	前置摄像头视频，分辨率240x320，帧率25fps
observation.images.camera_left	video (av1)	[240, 320, 3]	左置摄像头视频，分辨率240x320，帧率25fps
observation.images.camera_right	video (av1)	[240, 320, 3]	右置摄像头视频，分辨率240x320，帧率25fps
observation.images.camera_top	video (av1)	[240, 320, 3]	顶置摄像头视频，分辨率240x320，帧率25fps
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

引用

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