demo_src_three_piece_assembly_task_D1_robot_Panda_gripper_PandaGripper_additionalCams

该数据集是一个使用LeRobot创建的机器人学数据集，专注于跨具身机器人任务。它包含500个训练episodes，总计167075帧，帧率为20fps。数据以parquet文件格式存储，视频以mp4格式存储。数据集特征包括：动作数据（7维浮点数，表示机器人在x、y、z方向的位移、旋转位移和夹爪控制）；观察数据，包括状态（2维浮点数）、末端执行器位置和姿态（7维浮点数）、夹爪状态（6维浮点数）、关节位置（7维浮点数），以及组合特征如末端执行器夹爪状态（13维浮点数）和关节夹爪状态（13维浮点数）。此外，还提供来自frontview和sideview的图像观察，均为256x256分辨率的RGB视频。数据集结构支持机器人学习和控制任务的研究与应用。This dataset is a robotics dataset developed using LeRobot, focusing on cross-embodied robotic tasks. It contains 500 training episodes, totaling 167,075 frames with a frame rate of 20 fps. The data is stored in Parquet file format, while the videos are saved in MP4 format. The dataset includes the following features: action data (7-dimensional floating-point numbers, representing the robot's displacements in x, y, z directions, rotational displacements, and gripper control); observation data, which includes state (2-dimensional floating-point numbers), end-effector position and pose (7-dimensional floating-point numbers), gripper state (6-dimensional floating-point numbers), joint positions (7-dimensional floating-point numbers), as well as combined features such as end-effector gripper state (13-dimensional floating-point numbers) and joint gripper state (13-dimensional floating-point numbers). Additionally, image observations from front view and side view are provided, both as RGB videos with a resolution of 256×256. The structure of this dataset supports research and applications for robotic learning and control tasks.

原始信息汇总

数据集概述

• 数据集名称: demo_src_three_piece_assembly_task_D1_robot_Panda_gripper_PandaGripper_additionalCams
• 许可证: Apache-2.0
• 任务类型: 机器人学 (Robotics)
• 创建工具: LeRobot

数据集规模与结构

• 总集数: 500
• 总帧数: 167,075
• 总任务数: 1
• 帧率: 20 FPS
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据分块大小: 1,000 (chunks_size)
• 数据拆分: 训练集包含所有500集 (索引 0:500)
• 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
• 机器人类型: cross_embodiment

特征与数据格式

特征名称	数据类型	形状	字段描述
action	float32	[7]	动作指令，包括 dx, dy, dz, drx, dry, drz, gripper
observation.state	float32	[2]	机器人状态，包含 zero0, zero1
observation.eef	float32	[7]	末端执行器位姿，包含位置 (x, y, z) 和四元数 (x, y, z, w)
observation.gripper	float32	[6]	夹爪关节位置，6个自由度
observation.joint	float32	[7]	机器人关节位置，7个自由度
observation.eef_gripper	float32	[13]	末端执行器位姿与夹爪位置的拼接 (7+6)
observation.joint_gripper	float32	[13]	关节位置与夹爪位置的拼接 (7+6)
observation.images.frontview	video	[256, 256, 3]	前视摄像头 RGB 视频，AV1 编码，20 FPS
observation.images.sideview	video	[256, 256, 3]	侧视摄像头 RGB 视频，AV1 编码，20 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

可视化工具

可通过 Hugging Face Space 可视化该数据集。