taccap-g1-organize-meeting-table-items-0718
收藏资源简介：
该数据集是一个机器人操作数据集，专门用于训练和评估机器人执行任务的能力，特别是涉及双TacCap抓取器（bi_taccap_gripper）的系统。数据集由XenseRobotics团队使用LeRobot工具创建，包含19个episodes，总计111,948帧，以30帧/秒的速率采集。数据以parquet文件格式存储，并包含视频文件。数据集结构包括动作特征（如左右抓取器的位置和姿态）、观测状态特征（与动作特征类似），以及多个视觉传感器的视频数据：左右手腕摄像头（分辨率480x640）和左右触觉传感器（分辨率400x700），所有视频均采用h264编码。数据集仅用于训练分割，支持机器人学习任务，如物体操作和触觉反馈处理。引用信息指向相关开源项目。
This dataset is a robotic manipulation dataset specifically designed for training and evaluating robotic task execution capabilities, particularly for systems equipped with dual TacCap grippers (bi_taccap_gripper). It was created by the XenseRobotics team using the LeRobot toolkit, containing 19 episodes totaling 111,948 frames collected at a rate of 30 frames per second. The data is stored in Parquet file format and includes video files. The dataset structure covers action features (e.g., positions and orientations of the left and right grippers), observation state features (similar to the action features), and video data from multiple visual sensors: left and right wrist cameras with a resolution of 480×640 and left and right tactile sensors with a resolution of 400×700. All videos are encoded with H.264. This dataset is exclusively used for segmentation training and supports robotic learning tasks such as object manipulation and tactile feedback processing. Citation information refers to the relevant open-source project.
数据集概述
- 数据集名称: taccap-g1-organize-meeting-table-items-0718
- 创建者: TacVerse
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 机器人类型: bi_taccap_gripper
数据集规模
- 总片段数 (Episodes): 19
- 总帧数 (Frames): 111,948
- 总任务数: 1
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据划分
- 训练集 (train): 片段 0 到 18 (共19个片段)
数据集结构
数据集使用 LeRobot 框架创建，数据以 Parquet 和 MP4 视频文件形式存储。
数据文件路径
- 数据:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | (20,) | 20维动作指令，包含左右TCP位姿 (x,y,z,r1..r6) 和夹爪位置 |
observation.state |
float32 | (20,) | 20维机器人状态观测，与动作维度相同 |
observation.images.left_tactile_left |
video | (400, 700, 3) | 左侧触觉左摄像头视频 (h264, 30fps) |
observation.images.left_tactile_right |
video | (400, 700, 3) | 左侧触觉右摄像头视频 |
observation.images.left_wrist |
video | (480, 640, 3) | 左腕部摄像头视频 |
observation.images.right_tactile_left |
video | (400, 700, 3) | 右侧触觉左摄像头视频 |
observation.images.right_tactile_right |
video | (400, 700, 3) | 右侧触觉右摄像头视频 |
observation.images.right_wrist |
video | (480, 640, 3) | 右腕部摄像头视频 |
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 |
引用
bibtex @misc{xense-taccap-lerobot, author = {XenseRobotics Team}, title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support}, howpublished = {url{https://github.com/Vertax42/xense-taccap-lerobot}}, year = {2026} }
