real_world_automate_1

该数据集是一个机器人学习数据集，使用LeRobot创建，专注于机器人操作任务，可能涉及插拔场景。数据集包含16个episodes，总计1097帧和64个视频，帧率为30fps，仅用于训练分割。数据特征包括：动作（9维浮点数组，表示位置和旋转变化）、观察值（如末端执行器内部力、姿态矩阵、对齐的插座深度图像、初始插头深度图像、初始手腕点云、手腕相机外参矩阵、手腕相机深度和RGB图像、Azure Kinect前相机彩色图像、辅助相机左右RGB和深度图像等），以及时间戳、帧索引、episode索引等元数据。数据以Parquet格式存储，适用于机器人控制和感知研究。This is a robotics learning dataset developed using LeRobot, focusing on robotic manipulation tasks which may involve plug-and-pull scenarios. The dataset contains 16 episodes, totaling 1097 frames and 64 videos with a frame rate of 30 fps, and is exclusively used for segmentation training. The data features include: actions (9-dimensional floating-point arrays representing position and rotation variations), observations (such as internal forces of the end effector, pose matrices, aligned socket depth images, initial plug depth images, initial wrist point clouds, wrist camera extrinsic matrices, wrist camera depth and RGB images, color images from the front Azure Kinect camera, left and right RGB and depth images from auxiliary cameras, etc.), as well as metadata including timestamps, frame indices, and episode indices. The data is stored in Parquet format and is applicable to robotics control and perception research.

原始信息汇总

• 许可证: Apache-2.0
• 任务类别: 机器人学 (Robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建
• 数据集结构:
  • 机器人类型: script
  • 总片段数: 16
  • 总帧数: 1097
  • 总任务数: 1
  • 总视频数: 64
  • 总数据块数: 1
  • 数据块大小: 1000
  • 帧率 (FPS): 30
  • 数据集划分: 训练集 (train): 0 到 15 号片段
  • 数据格式: Parquet 文件，位于 data/*/*.parquet
• 特征 (Features):
  • action: 9 维 float32 动作，包含 delta x/y/z 和 6D 旋转表示
  • observation.eef_internal_forces: 3 维 float32，腕部相机坐标系下的线性末端执行器内力
  • observation.eef_pose: 4x4 姿态矩阵
  • observation.aligned_socket_depth_img: 480x640 对齐的插座深度图像
  • observation.init_plug_depth_img: 480x640 初始插头深度图像
  • observation.points.initial_wrist_points_world: 可变点数的世界坐标系腕部初始点云
  • observation.cam_wrist.extrinsics: 4x4 的腕部相机外参矩阵
  • observation.images.cam_wrist.depth: 720x1280 腕部相机深度图 (FoundationStereo)
  • observation.images.cam_wrist: 720x1280x3 RGB 视频
  • observation.images.cam_azure_kinect_front.color: 720x1280x3 原始彩色图像
  • observation.images.cam_auxiliary.left: 720x1280x3 辅助 ZED 左目 RGB
  • observation.images.cam_auxiliary.depth: 720x1280 辅助深度图 (FoundationStereo, uint16 毫米)
  • timestamp: float32 时间戳
  • frame_index: int64 帧索引
  • episode_index: int64 片段索引
  • index: int64 全局索引
  • task_index: int64 任务索引