libero_plus_goal_add_object_all_sawyer
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot框架创建，专门针对Sawyer机器人。数据集包含476个episodes和58649帧数据，涉及10个不同的任务，主要用于添加物体（add_object）操作。数据特征包括：观测状态（如末端执行器状态、关节状态、夹爪状态）、多视角图像（手腕图像、前视图像、侧视图像，均为256x256像素的RGB视频，帧率20fps）、动作数据（7维浮点数，表示位置、轴角和夹爪控制）以及时间戳和索引信息。数据集采用Apache-2.0许可证，数据以Parquet格式存储，总大小约100MB。
This dataset is a robot manipulation dataset created using the LeRobot framework, specifically designed for the Sawyer robot. It contains 476 episodes and 58,649 frames, covering 10 different tasks, primarily for add_object operations. Data features include: observation states (such as end-effector state, joint state, gripper state), multi-view images (wrist image, front view image, side view image, all as RGB videos with 256x256 pixel resolution and 20fps frame rate), action data (7-dimensional floating-point numbers representing position, axis-angle, and gripper control), as well as timestamp and index information. The dataset is licensed under Apache-2.0, stored in Parquet format, with a total size of approximately 100MB.
数据集概述
- 数据集名称:
max-chr/libero_plus_goal_add_object_all_sawyer - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, libero, libero-plus, sawyer, multicam, add_object
- 创建工具: 使用 LeRobot 创建
数据集结构
- 帧率 (FPS): 20
- 机器人类型: Sawyer
- 总集数 (Episodes): 476
- 总帧数 (Frames): 58,649
- 总任务数 (Tasks): 10
数据特征 (Features)
| 特征名称 | 数据类型 | 形状 | 描述 |
|---|---|---|---|
observation.state |
float32 | (8,) | 电机状态：x, y, z, axis_angle1, axis_angle2, axis_angle3, gripper, gripper |
observation.states.ee_state |
float32 | (6,) | 末端执行器状态：x, y, z, axis_angle1, axis_angle2, axis_angle3 |
observation.states.joint_state |
float32 | (7,) | 关节状态：joint_0 至 joint_6 |
observation.states.gripper_state |
float32 | (2,) | 夹爪状态：gripper, gripper |
observation.images.image |
video | (256, 256, 3) | 主摄像头图像 (RGB, 分辨率 256x256) |
observation.images.wrist_image |
video | (256, 256, 3) | 腕部摄像头图像 (RGB, 分辨率 256x256) |
observation.images.frontview_image |
video | (256, 256, 3) | 前视摄像头图像 (RGB, 分辨率 256x256) |
observation.images.sideview_image |
video | (256, 256, 3) | 侧视摄像头图像 (RGB, 分辨率 256x256) |
action |
float32 | (7,) | 动作指令：x, y, z, axis_angle1, axis_angle2, axis_angle3, gripper |
timestamp |
float32 | (1,) | 时间戳 |
frame_index |
int64 | (1,) | 帧索引 |
episode_index |
int64 | (1,) | 集索引 |
index |
int64 | (1,) | 全局索引 |
task_index |
int64 | (1,) | 任务索引 |
数据划分
- 训练集 (Train): 0 至 476 (全部数据)
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 - 视频编码: AV1, 帧率 20 FPS, 分辨率 256x256
