mix__pick_green_relay5__pick_blue_relay__close_box_full__20260619_102843_recomputed_stats
收藏资源简介：
该数据集使用LeRobot创建，是一个机器人学领域的数据集，专注于双臂机器人的动作和观察数据。数据集包含120个episodes，总计61,623帧，涉及3个不同任务。特征包括：动作数据（16维浮点数组，表示左右臂各7个关节和夹持器的位置）、观察状态（与动作相同的16维关节位置）、以及来自三个视角的图像视频（左腕、基座、右腕），每个视频分辨率为480x640像素，3通道，帧率为30fps，使用AV1编码。此外，还包括时间戳、帧索引、episode索引、任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，总数据文件大小为100MB，视频文件大小为200MB。机器人类型为“bi_openarm_follower”，适用于机器人控制、模仿学习等研究。
This dataset is developed with LeRobot, a robotics dataset focused on action and observation data for dual-arm robots. It contains 120 episodes, totaling 61,623 frames, and covers 3 distinct tasks. The dataset includes the following features: action data (a 16-dimensional floating-point array representing the positions of 7 joints and the gripper for both the left and right arms), observation states (16-dimensional joint positions consistent with the action data), and image videos from three viewpoints: left wrist, robot base, and right wrist. Each video has a resolution of 480×640 pixels, 3 color channels, a frame rate of 30 fps, and is encoded using AV1. In addition, it provides metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet file format, while the videos are stored in MP4 format. The total size of the data files is 100 MB, and the total size of the video files is 200 MB. The robot type for this dataset is "bi_openarm_follower", and it is suitable for research in areas such as robot control and imitation learning.
数据集概述
- 数据集名称:
mix__pick_green_relay5__pick_blue_relay__close_box_full__20260619_102843_recomputed_stats - 许可证: Apache-2.0
- 任务类别: 机器人 (Robotics)
- 创建工具: 基于 LeRobot 创建
数据集规模
| 指标 | 数值 |
|---|---|
| 总片段数 (Episodes) | 120 |
| 总帧数 (Frames) | 61,623 |
| 总任务数 (Tasks) | 3 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
| 帧率 (FPS) | 30 |
数据集结构
数据文件格式: Parquet
视频文件格式: MP4 (AV1 编码)
特征字段:
- action: 动作指令 (16维浮点数，包含左右机械臂各7个关节位置及夹爪位置)
- observation.state: 观测状态 (16维浮点数，结构与action一致)
- observation.images.left_wrist: 左腕摄像头图像 (480×640×3，视频格式)
- observation.images.base: 基座摄像头图像 (480×640×3，视频格式)
- observation.images.right_wrist: 右腕摄像头图像 (480×640×3，视频格式)
- timestamp: 时间戳 (浮点数)
- frame_index: 帧索引 (整数)
- episode_index: 片段索引 (整数)
- index: 全局索引 (整数)
- task_index: 任务索引 (整数)
机器人类型: bi_openarm_follower (双臂OpenArm追随者机器人)
数据集划分:
- 训练集: 片段0至119 (全部120个片段用于训练)
引用信息
引用方式待定 (BibTeX待补充)。
