sam-guided-vlas/LONG_TAIL_TRAIN_4-clean-hires-small-test
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，专门用于机器人学研究和应用。数据集包含23个训练集片段，总计3863帧数据，覆盖22个不同任务，采用Panda机器人进行数据采集。数据特征丰富，包括：7维动作向量（x、y、z、rx、ry、rz、gripper）、奖励值、完成标志、环境种子、机器人关节位置（7维）、末端执行器位置（3维）和四元数姿态（4维）、夹爪位置（2维）。此外，数据集提供多视角视频图像：前视图像、鸟瞰图像、代理视角图像、侧视图像、机器人视角图像和手眼图像，所有视频均为AV1编码，分辨率896x896，帧率20fps，3通道彩色图像。还包括机器人本体状态（50维，含关节位置的正余弦值、速度、加速度、末端执行器位置和姿态等）、时间戳、帧索引、片段索引和任务索引。数据集结构以Parquet文件格式存储，总数据文件大小约100MB，视频文件大小约200MB，适用于机器人控制、强化学习、视觉感知等任务。
--- 许可证：apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：默认 数据文件：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=sam-guided-vlas/LONG_TAIL_TRAIN_4-clean-hires"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集说明 - **主页：** [更多信息待补充] - **论文：** [更多信息待补充] - **许可证：** apache-2.0 ## 数据集结构 [meta/info.json]: json { "代码库版本": "v3.0", "机器人类型": "Panda（潘达机器人）", "总回合数": 23, "总帧数": 3863, "总任务数": 22, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 20, "数据拆分": { "训练集": "0:23" }, "数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "动作": { "数据类型": "float32", "形状": [ 7 ], "字段名称": [ "x", "y", "z", "rx", "ry", "rz", "gripper" ] }, "奖励": { "数据类型": "float32", "形状": [ 1 ], "字段名称": [ "reward" ] }, "结束标记": { "数据类型": "bool", "形状": [ 1 ], "字段名称": [ "done" ] }, "环境随机种子": { "数据类型": "int64", "形状": [ 1 ], "字段名称": [ "seed" ] }, "机器人0关节位置": { "数据类型": "float32", "形状": [ 7 ], "字段名称": [ "joint0", "joint1", "joint2", "joint3", "joint4", "joint5", "joint6" ] }, "机器人0末端执行器位置": { "数据类型": "float32", "形状": [ 3 ], "字段名称": [ "x", "y", "z" ] }, "机器人0末端执行器位姿四元数": { "数据类型": "float32", "形状": [ 4 ], "字段名称": [ "qx", "qy", "qz", "qw" ] }, "机器人0夹爪关节位置": { "数据类型": "float32", "形状": [ 2 ], "字段名称": [ "q0", "q1" ] }, "前视图像": { "数据类型": "video", "形状": [ 3, 896, 896 ], "字段名称": [ "channels", "height", "width" ], "详细信息": { "视频高度": 896, "视频宽度": 896, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "鸟瞰图像": { "数据类型": "video", "形状": [ 3, 896, 896 ], "字段名称": [ "channels", "height", "width" ], "详细信息": { "视频高度": 896, "视频宽度": 896, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "智能体视角图像": { "数据类型": "video", "形状": [ 3, 896, 896 ], "字段名称": [ "channels", "height", "width" ], "详细信息": { "视频高度": 896, "视频宽度": 896, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "侧视图像": { "数据类型": "video", "形状": [ 3, 896, 896 ], "字段名称": [ "channels", "height", "width" ], "详细信息": { "视频高度": 896, "视频宽度": 896, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "机器人0自身视角图像": { "数据类型": "video", "形状": [ 3, 896, 896 ], "字段名称": [ "channels", "height", "width" ], "详细信息": { "视频高度": 896, "视频宽度": 896, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "机器人0手眼相机图像": { "数据类型": "video", "形状": [ 3, 896, 896 ], "字段名称": [ "channels", "height", "width" ], "详细信息": { "视频高度": 896, "视频宽度": 896, "视频编码": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "视频通道数": 3, "是否包含音频": false } }, "机器人0本体感知状态": { "数据类型": "float32", "形状": [ 50 ], "字段名称": [ "robot0_joint_pos_0", "robot0_joint_pos_1", "robot0_joint_pos_2", "robot0_joint_pos_3", "robot0_joint_pos_4", "robot0_joint_pos_5", "robot0_joint_pos_6", "robot0_joint_pos_cos_0", "robot0_joint_pos_cos_1", "robot0_joint_pos_cos_2", "robot0_joint_pos_cos_3", "robot0_joint_pos_cos_4", "robot0_joint_pos_cos_5", "robot0_joint_pos_cos_6", "robot0_joint_pos_sin_0", "robot0_joint_pos_sin_1", "robot0_joint_pos_sin_2", "robot0_joint_pos_sin_3", "robot0_joint_pos_sin_4", "robot0_joint_pos_sin_5", "robot0_joint_pos_sin_6", "robot0_joint_vel_0", "robot0_joint_vel_1", "robot0_joint_vel_2", "robot0_joint_vel_3", "robot0_joint_vel_4", "robot0_joint_vel_5", "robot0_joint_vel_6", "robot0_joint_acc_0", "robot0_joint_acc_1", "robot0_joint_acc_2", "robot0_joint_acc_3", "robot0_joint_acc_4", "robot0_joint_acc_5", "robot0_joint_acc_6", "robot0_eef_pos_x", "robot0_eef_pos_y", "robot0_eef_pos_z", "robot0_eef_quat_x", "robot0_eef_quat_y", "robot0_eef_quat_z", "robot0_eef_quat_w", "robot0_eef_quat_site_x", "robot0_eef_quat_site_y", "robot0_eef_quat_site_z", "robot0_eef_quat_site_w", "robot0_gripper_qpos_0", "robot0_gripper_qpos_1", "robot0_gripper_qvel_0", "robot0_gripper_qvel_1" ] }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名称": null } } } ## 引用 **BibTeX格式：** bibtex [更多信息待补充]
