cell2_20260521_mohamed_coffee_shop_setting20260521_233957
收藏资源简介：
这是一个使用LeRobot创建的机器人操作数据集，专注于双机械臂（starpilot_yam_gripper机器人）在咖啡店场景中的操作任务。数据集包含8个回合、2787帧数据，帧率为30fps。数据特征涵盖：14维动作向量，用于控制两个机械臂的6D位姿和夹爪宽度；32维观测状态，包括两个机械臂的编码器角度、IMU加速度和角速度、6D位姿、夹爪开合状态和距离；多视角摄像头图像，包括左腕和右腕的RGB和深度图像（分辨率480x640），以及基座的两个RGB图像（分辨率分别为480x640和768x1024）；此外，还包含时间戳、帧索引、回合索引等元数据。该数据集主要用于支持机器人学习任务，如模仿学习和强化学习。
This is a robotic manipulation dataset developed using LeRobot, focusing on operation tasks in a coffee shop scenario performed by the dual-arm robot (starpilot_yam_gripper). The dataset includes 8 episodes and 2787 frames, with a frame rate of 30 fps. The data features cover: a 14-dimensional action vector for controlling the 6D pose and gripper width of the two robotic arms; a 32-dimensional observation state that encompasses the encoder angles of the two robotic arms, IMU acceleration and angular velocity, 6D pose, gripper opening status and distance; multi-view camera images, including RGB and depth images from the left and right wrists (with a resolution of 480x640), as well as two RGB images from the robot base (with resolutions of 480x640 and 768x1024 respectively). Additionally, it also contains metadata such as timestamps, frame indices and episode indices. This dataset is mainly used to support robotic learning tasks such as imitation learning and reinforcement learning.
数据集概述
- 名称: cell2_20260521_mohamed_coffee_shop_setting20260521_233957
- 创建工具: 使用 LeRobot 创建
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
数据集规模
| 指标 | 数值 |
|---|---|
| 总片段数 (Episodes) | 8 |
| 总帧数 (Frames) | 2787 |
| 总任务数 (Tasks) | 1 |
| 帧率 (FPS) | 30 |
| 数据文件大小 | 100 MB |
| 视频文件大小 | 200 MB |
- 数据集版本: codebase v3.0
- 机器人类型: starpilot_yam_gripper
- 训练/测试划分: 所有8个片段均用于训练（train: 0:8）
数据特征
数据集包含动作、观测状态、多视角图像、时间戳及索引信息。
动作 (Action)
- 维度: 14
- 数据类型: float32
- 包含字段:
- arm1_x, arm1_y, arm1_z, arm1_rx, arm1_ry, arm1_rz, arm1_grip_width
- arm2_x, arm2_y, arm2_z, arm2_rx, arm2_ry, arm2_rz, arm2_grip_width
观测状态 (Observation State)
- 维度: 32
- 数据类型: float32
- 包含字段:
- 手臂1 (arm1): enc_deg, imu_ax, imu_ay, imu_az, imu_gx, imu_gy, imu_gz, pose_x, pose_y, pose_z, pose_qx, pose_qy, pose_qz, pose_qw, gripper_open, gripper_distance_m
- 手臂2 (arm2): enc_deg, imu_ax, imu_ay, imu_az, imu_gx, imu_gy, imu_gz, pose_x, pose_y, pose_z, pose_qx, pose_qy, pose_qz, pose_qw, gripper_open, gripper_distance_m
观测图像 (Observation Images)
包含5个摄像头视角，均为H.264编码视频，帧率30 FPS：
| 摄像头名称 | 分辨率 (H×W) | 通道数 | 是否深度图 |
|---|---|---|---|
| left_wrist_0_camera_rgb_image | 480×640 | 3 | 否 |
| left_wrist_0_camera_rgb_image_depth | 480×640 | 3 | 否 |
| right_wrist_0_camera_rgb_image | 480×640 | 3 | 否 |
| right_wrist_0_camera_rgb_image_depth | 480×640 | 3 | 否 |
| base_0_camera_rgb_image | 480×640 | 3 | 否 |
| base_1_camera_rgb_image | 768×1024 | 3 | 否 |
其他字段
- timestamp: 时间戳 (float32)
- frame_index: 帧索引 (int64)
- episode_index: 片段索引 (int64)
- index: 全局索引 (int64)
- task_index: 任务索引 (int64)
数据存储
- 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
引用信息
暂未提供引用信息。
