Aibot2_JC_intern_RHS_2026_06_05_15fps
收藏资源简介：
该数据集是一个机器人操作数据集，使用LeRobot工具创建。它包含61个总集数和31053个总帧数，帧率为15fps，涉及一个任务，使用aibot2机器人类型。数据集结构包括动作特征（如左臂和右臂的位置、四元数以及左右抓取器的位置）、观测状态特征（如左右关节位置）以及来自多个摄像头（包括前、左、右、顶部摄像头）的图像观测，每个摄像头的视频分辨率为240x320像素，编码格式为av1。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，且仅包含训练集。
This robotic manipulation dataset was developed using the LeRobot toolkit. It contains 61 total episodes and 31,053 total frames at a frame rate of 15 fps, focuses on a single task, and utilizes the aibot2 robot platform. The dataset structure includes action features (e.g., positions and quaternions of the left and right arms, as well as positions of the left and right grippers), observation state features (e.g., positions of the left and right joints), and image observations from multiple cameras including front, left, right, and top cameras. Each camera captures footage at a resolution of 240×320 pixels with AV1 encoding. All data is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB, and the dataset only includes a training split.
数据集概述
- 数据集名称: Aibot2_JC_intern_RHS_2026_06_05_15fps
- 数据集地址: https://huggingface.co/datasets/alphabot2/Aibot2_JC_intern_RHS_2026_06_05_15fps
- 许可证: Apache-2.0
- 任务类型: 机器人学 (robotics)
- 创建工具: 使用 LeRobot 创建
数据集结构
- 机器人类型: aibot2
- 总片段数 (episodes): 61
- 总帧数 (frames): 31053
- 总任务数 (tasks): 1
- 帧率 (fps): 15
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据划分: 所有61个片段均用于训练 (train: 0:61)
数据存储路径
- 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
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [16] | 包含左右手臂的位姿（位置+四元数）及左右夹爪位置 |
| observation.state | float32 | [16] | 包含左右手臂7个关节位置及左右夹爪关节位置 |
| observation.images.camera_front | video | [240, 320, 3] | 前置摄像头视频，分辨率240x320，AV1编码，15fps |
| observation.images.camera_left | video | [240, 320, 3] | 左置摄像头视频，分辨率240x320，AV1编码，15fps |
| observation.images.camera_right | video | [240, 320, 3] | 右置摄像头视频，分辨率240x320，AV1编码，15fps |
| observation.images.camera_top | video | [240, 320, 3] | 顶部摄像头视频，分辨率240x320，AV1编码，15fps |
| 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 |
动作与状态命名
Action (动作) 名称
left_arm.x, left_arm.y, left_arm.z, left_arm.qx, left_arm.qy, left_arm.qz, left_arm.qw, right_arm.x, right_arm.y, right_arm.z, right_arm.qx, right_arm.qy, right_arm.qz, right_arm.qw, left_gripper.pos, right_gripper.pos
Observation State (观测状态) 名称
ZPF_left_Joint1.pos 至 ZPF_left_Joint7.pos, ZPF_right_Joint1.pos 至 ZPF_right_Joint7.pos, 2FEG_l_Joint1.pos, 2FEG_r_Joint1.pos
