leftarm_v2
收藏资源简介：
该数据集是一个用于机器人学的开源数据集，使用LeRobot框架创建。它旨在支持机器人操控任务的学习与研究，特别是机械臂（左臂）抓取放置相关的任务。数据集包含310个完整的任务执行序列，共计164,332个时间步，涵盖2种不同的任务类型。数据以Parquet文件格式存储，并配有相应的视频文件。每个数据样本包含多模态观测和对应的机器人动作，具体字段包括：动作（6维浮点向量，表示机器人关节目标位置）、状态观测（6维浮点向量，表示机器人关节当前状态位置）、图像观测（提供顶部和腕部两个相机视角的彩色视频流，分辨率分别为640x480和480x640，帧率30fps，采用h264编码）以及元数据（如时间戳、帧索引、episode索引等）。所有数据均标记为训练集，适用于机器人模仿学习、强化学习、视觉运动策略学习等任务。
This dataset is an open-source dataset for robotics, created using the LeRobot framework. It aims to support learning and research in robot manipulation tasks, particularly those related to pick-and-place tasks with a robotic arm (left arm). The dataset contains 310 complete task execution episodes, totaling 164,332 frames, and covers 2 different task types. Data is stored in Parquet format with accompanying video files. Each sample includes multimodal observations and corresponding robot actions, with specific fields: action (a 6-dimensional float vector representing target positions for robot joints), observation.state (a 6-dimensional float vector for current joint positions), image observations (providing color video streams from two camera perspectives: top view at 640x480 resolution and wrist view at 480x640 resolution, both at 30fps with h264 encoding), and metadata (such as timestamp, frame index, episode index, etc.). All data is labeled as the training split and is suitable for tasks like imitation learning, reinforcement learning, and visual-motor policy learning.
根据您提供的数据集详情页面信息，以下是该数据集的概述：
数据集概述
基本信息
- 数据集名称: leftarm_v2
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 创建工具: 基于 LeRobot 框架创建
- 标签: LeRobot, smolvla, so101, leftarm, pick-place, hylion
数据集结构
- 机器人类型: so_follower
- 总片段数 (episodes): 310
- 总帧数 (frames): 164,332
- 总任务数: 2
- 块大小 (chunks_size): 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (fps): 30
- 数据分割: 全部 310 个片段用于训练 (train: 0-310)
特征 (Features)
动作 (action)
- 数据类型: float32
- 维度: 6
- 包含: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观察状态 (observation.state)
- 数据类型: float32
- 维度: 6
- 包含: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
观察图像 (observation.images)
- 顶部摄像头 (top)
- 类型: video
- 分辨率: 640x480
- 颜色通道: 3
- 编码: H.264
- 像素格式: yuv420p
- 帧率: 30 fps
- 腕部摄像头 (wrist)
- 类型: video
- 分辨率: 480x640
- 颜色通道: 3
- 编码: H.264
- 像素格式: yuv420p
- 帧率: 30 fps
其他特征
- timestamp: float32, shape [1]
- frame_index: int64, shape [1]
- episode_index: int64, shape [1]
- index: int64, shape [1]
- task_index: int64, shape [1]
数据文件路径
- 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
