Ordering_Constrained_Black_Bin_Sequencing_Robometer

该数据集是justintiensmith/Ordering_Constrained_Black_Bin数据集的排序提示变体，使用LeRobot工具创建。观察、动作、事件排序和视频内容保持不变，仅任务提示和任务索引被重写。数据集聚焦于黑色垃圾桶在四物品序列中的位置关系，位于序列左侧，使用五种不同的表达来描述每种位置关系：从左数第一、从左数第二、从右数第二、从右数第一。每种表达在25个事件的关系组中以循环方式分配给五个事件。事件50-74从从左数第三转换为等效的从右数第二关系，事件75-99从从左数第四转换为等效的从右数第一关系，从而排除了明确的从左数第三、从左数第四、从右数第三和从右数第四关系提示。数据集包含100个事件、53858帧、20个任务，特征包括动作、观察状态、手腕和中置摄像头视频、时间戳、帧索引、事件索引、索引和任务索引。视频分辨率为480x640，帧率为30fps，数据格式为parquet，视频格式为mp4，机器人类型为so_follower，许可证为apache-2.0。This dataset is a task-ordering prompt variant derived from the justintiensmith/Ordering_Constrained_Black_Bin dataset, developed using the LeRobot toolkit. Observations, actions, event orderings, and video content remain unaltered; only task prompts and task indices are rewritten. The dataset focuses on the positional relationship of a black trash bin within a four-item sequence, where the bin is positioned on the left side of the sequence. Five distinct expressions are employed to delineate each positional relationship: "1st from the left", "2nd from the left", "2nd from the right", and "1st from the right". Each expression is cyclically assigned to five events within a 25-event relationship group. Events 50 through 74 are converted from the "3rd from the left" prompt to an equivalent "2nd from the right" positional relationship, while events 75 through 99 are converted from the "4th from the left" prompt to an equivalent "1st from the right" relationship. This design excludes explicit prompts for the 3rd from left, 4th from left, 3rd from right, and 4th from right positional relationships. The dataset comprises 100 events, 53,858 frames, and 20 tasks. Its included features are actions, observation states, wrist and center-mounted camera videos, timestamps, frame indices, event indices, general indices, and task indices. The videos have a resolution of 480×640 and a frame rate of 30 fps. The underlying data is stored in Parquet format, with video files in MP4 format. The robot platform used is so_follower, and the dataset is licensed under Apache-2.0.

原始信息汇总

数据集概述

• 名称：Ordering_Constrained_Black_Bin_Sequencing_Robometer
• 许可证：Apache-2.0
• 任务类型：机器人学（Robotics）
• 标签：LeRobot
• 创建工具：LeRobot

数据集描述

该数据集是 justintiensmith/Ordering_Constrained_Black_Bin 的序列提示（sequencing-prompt）变体。其观测数据、动作、片段顺序和视频均未改变，仅对任务提示及其任务索引进行了重写。黑色料箱位于四件物品序列的左侧。数据集为每个位置关系（从左数第一、从左数第二、从右数第二、从右数第一）使用了五种释义，每种释义在其25个片段的组内以轮询模式分配给五个片段。第50–74个片段已从“从左数第三”转换为等效的“从右数第二”关系；第75–99个片段已从“从左数第四”转换为等效的“从右数第一”关系。这显式地排除了“从左数第三”“从左数第四”“从右数第三”“从右数第四”的关系提示。

数据集结构

• 总片段数：100
• 总帧数：53858
• 总任务数：20
• 帧率：30 FPS
• 数据文件大小：约100 MB
• 视频文件大小：约200 MB
• 机器人类型：so_follower
• 数据划分：训练集（0:100）

特征

特征名	数据类型	形状	说明
action	float32	[6]	机器人动作：肩部旋转、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置
observation.state	float32	[6]	机器人状态（与动作空间相同）
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，H.264编码，30 FPS
observation.images.middle	video	[480, 640, 3]	中部摄像头视频，H.264编码，30 FPS
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

文件路径

• 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

引用信息

目前暂无引用信息。