demo_src_threading_task_D1_robot_IIWA_gripper_Robotiq85Gripper
收藏资源简介：
该数据集是使用LeRobot创建的机器人学数据集，专注于跨具身模仿任务。数据集包含100个训练集，总计23758帧，帧率为20fps。数据特征包括动作（7维浮点数组，表示dx、dy、dz、drx、dry、drz和夹爪控制）、观测状态（2维浮点数组）、末端执行器位置和姿态（7维浮点数组）、夹爪状态（6维浮点数组）、关节位置（7维浮点数组），以及组合特征如末端执行器夹爪和关节夹爪。此外，数据集提供两种图像观测：代理视图和腕部视图，均为256x256像素的RGB视频。数据集结构以parquet文件格式存储，支持机器人控制和学习任务。
This is a robotics dataset developed with LeRobot, focused on cross-embodied imitation tasks. The dataset includes 100 training subsets, with a total of 23758 frames at a frame rate of 20 fps. Its data features consist of actions (7-dimensional floating-point arrays representing dx, dy, dz, drx, dry, drz, and gripper control), observation states (2-dimensional floating-point arrays), end-effector position and orientation (7-dimensional floating-point arrays), gripper states (6-dimensional floating-point arrays), joint positions (7-dimensional floating-point arrays), as well as combined features such as end-effector-gripper and joint-gripper combinations. Furthermore, the dataset provides two types of image observations: agent-view and wrist-view RGB videos, both with a resolution of 256×256 pixels. The dataset is stored in Parquet file format, supporting robotic control and learning tasks.
数据集概览
- 数据集名称: demo_src_threading_task_D1_robot_IIWA_gripper_Robotiq85Gripper
- 许可证: Apache-2.0
- 任务类别: 机器人技术 (Robotics)
- 标签: LeRobot, mimicgen, lerobot, robotics, cross-embodiment
- 创建工具: 使用 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 机器人类型: 跨具身 (cross_embodiment)
- 总片段数 (Episodes): 100
- 总帧数 (Frames): 23,758
- 总任务数: 1
- 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): 20
- 数据分割: 训练集 (train) 包含全部 100 个片段 (索引 0 到 99)
特征 (Features)
数据集包含动作 (action)、多种观测 (observation) 以及元数据字段。具体如下：
| 特征名称 | 数据类型 | 形状 (Shape) | 字段/维度说明 |
|---|---|---|---|
| action | float32 | [7] | 包含7个电机控制量: dx, dy, dz, drx, dry, drz, gripper |
| observation.state | float32 | [2] | 状态观测: zero0, zero1 |
| observation.eef | float32 | [7] | 末端执行器位姿: eef_pos_x, eef_pos_y, eef_pos_z, eef_quat_x, eef_quat_y, eef_quat_z, eef_quat_w |
| observation.gripper | float32 | [6] | 夹爪关节位置: gripper_qpos_0 至 gripper_qpos_5 |
| observation.joint | float32 | [7] | 机器人关节位置: joint_pos_0 至 joint_pos_6 |
| observation.eef_gripper | float32 | [13] | 末端执行器位姿与夹爪关节位置的组合 |
| observation.joint_gripper | float32 | [13] | 机器人关节位置与夹爪关节位置的组合 |
| observation.images.agentview | video | [256, 256, 3] | 主视角摄像头视频 (256x256, RGB, AV1编码, 20fps) |
| observation.images.wrist | video | [256, 256, 3] | 腕部摄像头视频 (256x256, RGB, AV1编码, 20fps) |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据路径
- 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
- 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用
- 主页: [更多信息待补充]
- 论文: [更多信息待补充]
- BibTeX: [更多信息待补充]
