trossen_ai_stationary_test_1
收藏资源简介：
该数据集是一个机器人控制数据集，使用LeRobot工具创建，专门针对双机械臂（Trossen AI Stationary机器人）的交互数据。它包含2个总集、590帧、1个任务和8个视频，以30帧每秒的帧率采集。数据集的特征包括14维的动作向量（对应左右机械臂各7个关节）、14维的观察状态（关节位置），以及来自四个摄像头的视频观察：高分辨率摄像头、低分辨率摄像头、右腕摄像头和左腕摄像头（所有摄像头均为480x640分辨率、3通道、AV1编码）。此外，数据集还包含时间戳、帧索引、集索引等元数据，主要用于机器人学习任务，如模仿学习或强化学习。
This dataset is a robot control dataset created using the LeRobot tool, specifically for interaction data of a dual-arm robot (Trossen AI Stationary robot). It contains 2 episodes, 590 frames, 1 task, and 8 videos, collected at a frame rate of 30 frames per second. The dataset features include a 14-dimensional action vector (corresponding to 7 joints for each of the left and right arms), a 14-dimensional observation state (joint positions), and video observations from four cameras: a high-resolution camera, a low-resolution camera, a right wrist camera, and a left wrist camera (all cameras have a resolution of 480x640, 3 channels, and AV1 encoding). Additionally, the dataset includes metadata such as timestamps, frame indices, and episode indices, and is primarily used for robot learning tasks, such as imitation learning or reinforcement learning.
数据集概述
- 数据集名称:
trossen_ai_stationary_test_1 - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 基于 LeRobot 创建
数据集结构
- 代码库版本: v2.1
- Trossen 子版本: v1.0
- 机器人类型:
trossen_ai_stationary - 总片段数 (Episodes): 2
- 总帧数 (Frames): 590
- 总任务数: 1
- 总视频数: 8
- 总数据块数 (Chunks): 1
- 数据块大小: 1000
- 帧率 (FPS): 30
- 数据划分: 训练集 (train) 包含片段索引 0 到 1
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [14] | 包含左右手臂各7个关节的动作指令 (joint_0 至 joint_6) |
observation.state |
float32 | [14] | 包含左右手臂各7个关节的状态观测 (joint_0 至 joint_6) |
observation.images.cam_high |
video | (480, 640, 3) | 高位摄像头视频，AV1编码，30fps，无音频 |
observation.images.cam_low |
video | (480, 640, 3) | 低位摄像头视频，AV1编码，30fps，无音频 |
observation.images.cam_right_wrist |
video | (480, 640, 3) | 右手腕摄像头视频，AV1编码，30fps，无音频 |
observation.images.cam_left_wrist |
video | (480, 640, 3) | 左手腕摄像头视频，AV1编码，30fps，无音频 |
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 |
数据文件存储路径
- 主数据文件:
data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频文件:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
