aloha_unscrew_act_rgb
收藏资源简介：
该数据集由LeRobot创建，专用于机器人学任务，具体聚焦于ALOHA机器人执行拧螺丝的动作。数据集包含151个episodes，总帧数达222890，专注于单一任务。数据以parquet文件格式存储，视频文件为mp4格式。特征包括来自三个摄像头的图像：高角度摄像头、左手腕摄像头和右手腕摄像头，图像分辨率为480x848，采用RGB三通道，帧率为50fps；同时包含观察状态（14维浮点数）、动作（14维浮点数）、时间戳、帧索引、episode索引、索引和任务索引等结构化数据。该数据集设计用于支持机器人学习算法的训练和评估，特别适用于视觉-动作映射任务。
This dataset was created by LeRobot, specifically for robotics tasks, with a primary focus on the screw-tightening actions performed by the ALOHA robot. The dataset consists of 151 episodes, with a total of 222,890 frames, and is dedicated to a single task. The data is stored in Parquet file format, while the video files are in MP4 format. Its features include images from three cameras: a high-angle camera, a left-wrist camera, and a right-wrist camera. The images have a resolution of 480×848, use RGB three-channel format, and a frame rate of 50 fps. Additionally, it contains structured data such as 14-dimensional floating-point observation states, 14-dimensional floating-point actions, timestamps, frame indices, episode indices, indices, and task indices. This dataset is designed to support the training and evaluation of robotics learning algorithms, and is particularly suitable for visual-action mapping tasks.
数据集概述
- 名称: mjkim00/aloha_unscrew_act_rgb
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
数据集结构
- 创建工具: 使用 LeRobot 创建
- 机器人类型: ALOHA
- 总片段数: 151
- 总帧数: 222,890
- 总任务数: 1
- 分块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (FPS): 50
- 数据划分: 全部 151 个片段用于训练
数据特征
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| observation.images.cam_high | 视频 | (480, 848, 3) | 高视角摄像头图像，每秒50帧，AV1编码 |
| observation.images.cam_left_wrist | 视频 | (480, 848, 3) | 左手腕摄像头图像，每秒50帧，AV1编码 |
| observation.images.cam_right_wrist | 视频 | (480, 848, 3) | 右手腕摄像头图像，每秒50帧，AV1编码 |
| observation.state | float32 | (14,) | 机器人状态 |
| action | float32 | (14,) | 动作 |
| timestamp | float32 | (1,) | 时间戳 |
| frame_index | int64 | (1,) | 帧索引 |
| episode_index | int64 | (1,) | 片段索引 |
| index | int64 | (1,) | 索引 |
| task_index | int64 | (1,) | 任务索引 |
数据路径
- 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
引用信息
- 当前无可用 BibTeX 引用信息。
