PickPlace_staticMarker

该数据集由LeRobot创建，专门用于机器人操作任务，具体针对静态标记物的拾取放置（PickPlace_staticMarker）。数据集包含76个完整episodes，总计26911帧数据，帧率为30fps。数据特征涵盖机器人动作（包括6个关节位置：肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）、观测状态（与动作相同的关节位置），以及三个视角的RGB视频观测（手腕摄像头、上方摄像头和侧面摄像头，分辨率均为480x640像素，编码为av1，无音频）。数据以parquet文件格式组织，视频存储为MP4文件，总数据量约100MB，视频文件约200MB。数据集仅包含训练分割（所有episodes），适用于机器人学习任务，如模仿学习或强化学习。This dataset was developed by LeRobot, tailored for robotic manipulation tasks, specifically the pick-and-place task with static markers (denoted as PickPlace_staticMarker). It contains 76 complete episodes, summing up to 26911 frames with a frame rate of 30 fps. The data covers robot actions which include 6 joint positions: shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper position; observation states which replicate the aforementioned joint positions; and RGB video observations from three viewpoints: the wrist camera, overhead camera, and side camera. All videos have a resolution of 480×640 pixels, encoded in AV1 format without audio tracks. The dataset is structured in Parquet file format, while the video files are stored as MP4s. The total size of the dataset is approximately 100 MB, with the video files occupying around 200 MB. Only a training split (covering all episodes) is included in this dataset, which is suitable for robotic learning tasks such as imitation learning and reinforcement learning.

原始信息汇总

数据集概述：PickPlace_staticMarker

• 许可证：Apache-2.0
• 任务类别：机器人学（robotics）
• 创建工具：使用 LeRobot 创建

数据集规模

• 总片段数：76
• 总帧数：26,911
• 总任务数：1
• 帧率：30 FPS
• 数据文件大小：约100 MB
• 视频文件大小：约200 MB
• 分割：训练集使用全部76个片段（索引 0:76）

数据集结构

数据以 Parquet 和 MP4 格式存储，组织结构如下：

• 数据路径：data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径：videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

数据特征

特征字段	数据类型	形状	说明
action	float32	[6]	机器人动作：肩关节旋转、肩关节升降、肘关节弯曲、腕关节弯曲、腕关节旋转、夹爪位置
observation.state	float32	[6]	机器人状态（与动作维度相同）
observation.images.wrist	video	[480, 640, 3]	腕部摄像头视频，AV1编码，30 FPS，非深度图
observation.images.up	video	[480, 640, 3]	顶部摄像头视频，AV1编码，30 FPS，非深度图
observation.images.side	video	[480, 640, 3]	侧面摄像头视频，AV1编码，30 FPS，非深度图
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

机器人类型

• 机器人：SO-Follower（软体跟随机器人）