taccap-g1-Open-cup-lid-0708
收藏资源简介：
该数据集是使用LeRobot创建的机器人数据集，专注于双触觉抓取机器人（bi_taccap_gripper）执行单一任务（例如打开杯盖）。数据集包含106个episodes，总计114093帧，数据以parquet格式存储，视频以mp4格式存储，帧率为30fps。特征包括动作（action）和多模态观测（observation），其中动作包含20维浮点数组，表示左右机械臂的末端执行器位置、旋转和夹爪位置；观测包括状态（state，同样为20维浮点数组）和图像数据，图像来自左右腕摄像头（分辨率480x640）和左右触觉传感器（分辨率400x700），均为RGB视频。数据集适用于机器人学习任务，如模仿学习或强化学习，许可证为Apache 2.0。
This dataset is a robotics dataset created using LeRobot, focusing on a bi-tactile grasping robot (bi_taccap_gripper) performing a single task (e.g., opening a cup lid). It contains 106 episodes, totaling 114,093 frames, with data stored in parquet format and videos in mp4 format at a frame rate of 30fps. Features include actions (action) and multimodal observations (observation), where actions consist of a 20-dimensional floating-point array representing the end-effector positions, rotations, and gripper positions of the left and right robotic arms; observations include state (state, also a 20-dimensional floating-point array) and image data, with images from left and right wrist cameras (resolution 480x640) and left and right tactile sensors (resolution 400x700), all in RGB video format. The dataset is suitable for robotics learning tasks such as imitation learning or reinforcement learning, and is licensed under Apache 2.0.
数据集概述
- 名称: taccap-g1-Open-cup-lid-0708
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: LeRobot
- 机器人类型: bi_taccap_gripper
数据集规模
- 总片段数 (Episodes): 106
- 总帧数 (Frames): 114,093
- 总任务数: 1
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据划分
- 训练集: 片段 0 至 105 (共106个片段)
数据特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | (20,) | 20维动作向量，包含左右TCP位姿、左右夹爪位置 |
| observation.state | float32 | (20,) | 20维状态向量，结构与action相同 |
| observation.images.left_tactile_left | video | (400, 700, 3) | 左侧左触觉图像 (H264, 30fps) |
| observation.images.left_tactile_right | video | (400, 700, 3) | 左侧右触觉图像 (H264, 30fps) |
| observation.images.left_wrist | video | (480, 640, 3) | 左腕相机图像 (H264, 30fps) |
| observation.images.right_tactile_left | video | (400, 700, 3) | 右侧左触觉图像 (H264, 30fps) |
| observation.images.right_tactile_right | video | (400, 700, 3) | 右侧右触觉图像 (H264, 30fps) |
| observation.images.right_wrist | video | (480, 640, 3) | 右腕相机图像 (H264, 30fps) |
| 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 |
数据格式
- 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 - 配置: 默认配置，数据文件为
data/*/*.parquet
