K-vr/bimanual_task_cubemove
收藏资源简介：
该数据集是一个用于机器人研究的双手机器人任务数据集，专注于立方体移动任务。数据集包含20个训练片段，总计8930帧数据，视频帧率为30fps。数据格式为parquet，特征包括：动作数据（12维双手机器人关节位置）、状态观测（12维关节位置）、多个摄像头图像（左摄像头左视角、左摄像头场景视角、右摄像头右视角、RealSense RGB摄像头、RealSense红外左右摄像头）、深度图（RealSense深度摄像头）、相机内参以及时间戳、帧索引、片段索引等元数据。机器人类型为bi_so_follower，适用于双手机器人控制与模仿学习任务。
许可证：apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：default 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=K-vr/bimanual_task_cubemove"> <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](meta/info.json): json { "codebase_version": "v3.0", "robot_type": "bi_so_follower", "total_episodes": 20, "total_frames": 8930, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:20" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "action": { "dtype": "float32", "shape": [ 12 ], "names": [ "left_shoulder_pan.pos", "left_shoulder_lift.pos", "left_elbow_flex.pos", "left_wrist_flex.pos", "left_wrist_roll.pos", "left_gripper.pos", "right_shoulder_pan.pos", "right_shoulder_lift.pos", "right_elbow_flex.pos", "right_wrist_flex.pos", "right_wrist_roll.pos", "right_gripper.pos" ] }, "observation.state": { "dtype": "float32", "shape": [ 12 ], "names": [ "left_shoulder_pan.pos", "left_shoulder_lift.pos", "left_elbow_flex.pos", "left_wrist_flex.pos", "left_wrist_roll.pos", "left_gripper.pos", "right_shoulder_pan.pos", "right_shoulder_lift.pos", "right_elbow_flex.pos", "right_wrist_flex.pos", "right_wrist_roll.pos", "right_gripper.pos" ] }, "observation.images.left_cam_left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "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_cam_scene": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "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_cam_right": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "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.cam_realsense_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "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.depth.cam_realsense": { "dtype": "uint16", "shape": [ 480, 640 ], "names": [ "height", "width" ] }, "observation.images.cam_realsense_ir_left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "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.cam_realsense_ir_right": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "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.camera_intrinsics.realsense": { "dtype": "float32", "shape": [ 5 ], "names": [ "intrinsics" ] }, "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：** bibtex [更多信息待补充]
