board_insertion_ablation_dagger_round2

该数据集使用LeRobot创建，是一个专注于机器人学中板插入任务的数据集。它包含51个总集数和72701个总帧数，以30帧每秒的速率采集。数据特征包括观察状态（由15个浮点数表示，代表左臂和左夹爪的关节位置）、动作（由8个浮点数控制左臂关节和左夹爪）、干预（布尔值，表示干预状态），以及来自头部、左腕和右腕摄像头的图像观察（视频数据分辨率为720x1280和240x424）。此外，数据集还包含时间戳、帧索引、集索引、索引和任务索引等元数据。数据以Parquet文件格式存储，视频文件以MP4格式存储，总数据大小为100MB，视频文件大小为200MB。该数据集主要用于训练和评估机器人控制模型，特别是针对板插入任务。This dataset is created using LeRobot and focuses on the board insertion task in robotics. It consists of 51 total episodes and 72701 total frames, collected at a rate of 30 frames per second. Features include observation states (15 floating-point numbers representing joint positions of the left arm and left gripper), actions (8 floating-point numbers controlling left arm joints and left gripper), intervention (a boolean value indicating intervention status), and image observations from head, left wrist, and right wrist cameras (video data with resolutions of 720x1280 and 240x424). Additionally, it contains metadata such as timestamps, frame indices, episode indices, indices, and task indices. The data is stored in Parquet file format, with video files in MP4 format; the total data size is 100MB, and the video file size is 200MB. The dataset is used for training and evaluating robot control models, particularly for the board insertion task.

原始信息汇总

数据集概览

• 数据集名称: board_insertion_ablation_dagger_round2
• 许可证: Apache-2.0
• 任务类别: 机器人 (robotics)
• 创建工具: LeRobot

数据集结构

• 总片段数: 51
• 总帧数: 72701
• 总任务数: 1
• 帧率: 30 FPS
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 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
• 分割: 训练集包含全部 51 个片段 (train: "0:51")

数据集特征

特征名称	数据类型	形状	说明
observation.state	float32	(15,)	包含7个左臂关节位置、8个左夹爪关节位置
action	float32	(8,)	包含7个左臂关节动作、1个左夹爪动作
intervention	bool	(1,)	是否为人机干预标记
observation.images.head	视频 (video)	(3, 720, 1280)	头部摄像头画面，AV1编码，30 FPS
observation.images.left_wrist	视频 (video)	(3, 240, 424)	左腕摄像头画面，AV1编码，30 FPS
observation.images.right_wrist	视频 (video)	(3, 240, 424)	右腕摄像头画面，AV1编码，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,)	索引
task_index	int64	(1,)	任务索引