agibotdcassessment
收藏资源简介：
该数据集是使用LeRobot工具创建的机器人控制数据集，专门针对agibot_g2机器人类型。数据集包含10个episodes，总计9531帧，覆盖1个任务，所有数据均用于训练。数据以parquet格式存储，总大小为100MB，同时包含200MB的视频文件，视频帧率为30fps。数据集特征丰富，包括观察状态（24维浮点数组，表示机器人腰部、头部、左右手臂关节及末端执行器的状态）、动作（21维浮点数组，控制机器人各关节）、以及三个视频观察通道：头部摄像头（分辨率400x640）、左手摄像头和右手摄像头（分辨率均为1056x1280），视频编码为av1。此外，数据集还提供时间戳、帧索引、episode索引、任务索引等元数据。该数据集适用于机器人学习、控制算法开发和计算机视觉研究，特别是用于模仿学习或强化学习任务。
This dataset is a robotics control dataset created using the LeRobot toolkit, specifically tailored for the agibot_g2 robot platform. It consists of 10 episodes totaling 9531 frames, covering 1 single task, with all data intended for training purposes. The dataset is stored in Parquet format with a total size of 100 MB, and also includes 200 MB of video files at a frame rate of 30 fps. The dataset features rich data modalities, including observation states (a 24-dimensional floating-point array representing the states of the robot's waist, head, left and right arm joints, and end-effectors), actions (a 21-dimensional floating-point array for controlling each joint of the robot), and three video observation channels: the head camera with a resolution of 400×640, as well as the left-hand and right-hand cameras both with a resolution of 1056×1280, where the videos are encoded in AV1. Additionally, the dataset provides metadata such as timestamps, frame indices, episode indices, and task indices. This dataset is suitable for robotics learning, control algorithm development, and computer vision research, particularly for imitation learning or reinforcement learning tasks.
数据集概述
- 数据集名称: shaf22/agibotdcassessment
- 许可证: Apache-2.0
- 任务类型: 机器人学 (Robotics)
- 构建工具: 使用 LeRobot 创建
数据集结构
- 代码版本: v3.0
- 机器人类型: agibot_g2
- 总片段数: 10
- 总帧数: 9531
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 FPS
- 数据划分: 训练集 (0 到 9 片段)
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
观测状态 (observation.state)
- 数据类型: float32
- 形状: [24]
- 名称: 腰部关节 (waist_0 ~ waist_4)、头部关节 (head_0 ~ head_2)、左臂关节 (arm_l_joint1 ~ arm_l_joint7)、右臂关节 (arm_r_joint1 ~ arm_r_joint7)、左夹持器 (left_effector)、右夹持器 (right_effector)
动作 (action)
- 数据类型: float32
- 形状: [21]
- 名称: 腰部关节 (waist_0 ~ waist_4)、左臂关节 (arm_l_joint1 ~ arm_l_joint7)、右臂关节 (arm_r_joint1 ~ arm_r_joint7)、左夹持器 (left_effector)、右夹持器 (right_effector)
观测图像
头部摄像头 (observation.images.head)
- 形状: 400 x 640 x 3 (高度、宽度、通道)
- 编码: AV1
- 像素格式: yuv420p
- 帧率: 30 FPS
- 无音频
左手摄像头 (observation.images.hand_left)
- 形状: 1056 x 1280 x 3 (高度、宽度、通道)
- 编码: AV1
- 像素格式: yuv420p
- 帧率: 30 FPS
- 无音频
右手摄像头 (observation.images.hand_right)
- 形状: 1056 x 1280 x 3 (高度、宽度、通道)
- 编码: AV1
- 像素格式: yuv420p
- 帧率: 30 FPS
- 无音频
时间戳 (timestamp)
- 数据类型: float32
- 形状: [1]
帧索引 (frame_index)
- 数据类型: int64
- 形状: [1]
片段索引 (episode_index)
- 数据类型: int64
- 形状: [1]
索引 (index)
- 数据类型: int64
- 形状: [1]
任务索引 (task_index)
- 数据类型: int64
- 形状: [1]
