robotModels
收藏资源简介：
该数据集是使用LeRobot工具创建的机器人操作数据集，专门用于机器人学习任务。数据集包含3个完整的情节（episodes），总计8966帧数据，以每秒30帧的速率采集。数据特征包括：18维的动作向量（涵盖左右机械臂的关节位置、速度和升降轴高度）和观测状态（与动作相同的18维状态向量）；以及来自三个视角的图像观测：前向摄像头、左腕摄像头和右腕摄像头，每个图像分辨率为480x640像素，3通道彩色视频，采用AV1编码。数据集以parquet格式组织，包含时间戳、帧索引、情节索引等元数据，适用于机器人控制和模仿学习研究。机器人类型为alohamini_client。
This dataset is a robot manipulation dataset created using the LeRobot tool, specifically designed for robot learning tasks. It contains 3 complete episodes, totaling 8966 frames collected at a rate of 30 frames per second. Data features include: an 18-dimensional action vector (covering joint positions, velocities, and lift axis height for both left and right robotic arms) and observation states (an 18-dimensional state vector identical to the action); as well as image observations from three perspectives: a forward-facing camera, a left wrist camera, and a right wrist camera, each with a resolution of 480x640 pixels, 3-channel color video, encoded in AV1. The dataset is organized in parquet format, including metadata such as timestamps, frame indices, and episode indices, making it suitable for robot control and imitation learning research. The robot type is alohamini_client.
数据集总览
- 数据集名称: robotModels
- 许可证: Apache-2.0
- 任务类型: Robotics
- 相关标签: LeRobot
- 创建工具: 使用 LeRobot 创建
- 帧率 (fps): 30
数据集规模
| 指标 | 数值 |
|---|---|
| 总片段数 (episodes) | 3 |
| 总帧数 (frames) | 8966 |
| 总任务数 (tasks) | 1 |
| 数据文件大小 (data files) | 100 MB |
| 视频文件大小 (video files) | 200 MB |
数据集结构
- 机器人类型:
alohamini_client - 数据划分: 训练集 (train) 包含全部 3 个片段 (0:3)
- 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
action: 18 维浮点向量，包含双臂关节位置、移动底座速度及升降轴高度。- 左臂 (7维): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_yaw, wrist_roll, gripper
- 右臂 (7维): shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_yaw, wrist_roll, gripper
- 底座速度 (3维): x.vel, y.vel, theta.vel
- 升降轴高度 (1维): lift_axis.height_mm
observation.state: 18 维浮点向量，与action维度结构完全一致。observation.images: 包含三个视角的彩色视频，分辨率均为 480x640，编码为 AV1，帧率 30 fps。forward: 前进视角wrist_left: 左手腕视角wrist_right: 右手腕视角
- 辅助字段:
timestamp: 时间戳 (float32)frame_index: 帧索引 (int64)episode_index: 片段索引 (int64)index: 全局索引 (int64)task_index: 任务索引 (int64)
