YOLO2431/stack_cup_v1.1

该数据集是一个用于机器人学习的双手机器人数据集，使用LeRobot工具创建。数据集包含106个训练episodes，总帧数达166,575帧，帧率为30fps，涵盖2个不同的任务。数据特征包括机器人的状态观测（如左右机械臂的3D位置、6D旋转表示、夹持器开合状态和关节角度）、动作指令（结构与状态观测相似），以及来自头部摄像头、左腕摄像头和右腕摄像头的视频观测（分辨率为360x640，3通道RGB，H.264编码）。数据集以Parquet格式存储观测和动作数据，视频以MP4格式存储。机器人类型为雅马哈双手机器人（yam_bimanual），适用于机器人控制、模仿学习或强化学习等研究。license: apache-2.0 task_categories: - 机器人学 tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- 本数据集基于 [LeRobot](https://github.com/huggingface/lerobot) 构建。 ## 数据集说明 - **主页**：[需补充更多信息] - **论文**：[需补充更多信息] - **许可证**：apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "codebase_version": "v2.1", "robot_type": "yam_bimanual", "total_episodes": 106, "total_frames": 166575, "total_tasks": 2, "total_videos": 318, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:106" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": { "observation.state": { "dtype": "float32", "shape": [ 32 ], "names": [ [ "left_pos_x", "left_pos_y", "left_pos_z", "left_rot6d_0", "left_rot6d_1", "left_rot6d_2", "left_rot6d_3", "left_rot6d_4", "left_rot6d_5", "right_pos_x", "right_pos_y", "right_pos_z", "right_rot6d_0", "right_rot6d_1", "right_rot6d_2", "right_rot6d_3", "right_rot6d_4", "right_rot6d_5", "left_gripper", "right_gripper", "left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5" ] ] }, "action": { "dtype": "float32", "shape": [ 32 ], "names": [ [ "left_pos_x", "left_pos_y", "left_pos_z", "left_rot6d_0", "left_rot6d_1", "left_rot6d_2", "left_rot6d_3", "left_rot6d_4", "left_rot6d_5", "right_pos_x", "right_pos_y", "right_pos_z", "right_rot6d_0", "right_rot6d_1", "right_rot6d_2", "right_rot6d_3", "right_rot6d_4", "right_rot6d_5", "left_gripper", "right_gripper", "left_joint_0", "left_joint_1", "left_joint_2", "left_joint_3", "left_joint_4", "left_joint_5", "right_joint_0", "right_joint_1", "right_joint_2", "right_joint_3", "right_joint_4", "right_joint_5" ] ] }, "observation.images.head": { "dtype": "video", "shape": [ 3, 360, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.left_wrist": { "dtype": "video", "shape": [ 3, 360, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_wrist": { "dtype": "video", "shape": [ 3, 360, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } } } ## 引用 **BibTeX 格式：** bibtex [需补充更多信息]