20-wasa/openarm-cube-pickup_test
收藏资源简介：
该数据集是一个机器人控制测试数据集，由LeRobot创建，专注于双手机器人（bimanual_openarm）执行立方体拾取任务。数据集包含1个episode和527帧数据，帧率为30fps。数据特征包括：16维的机器人关节状态观察（observation.state）和动作（action），分别对应左右手臂各7个关节及左右手指各1个关节；多视角视频观察，包括头部（head）、左腕（left_wrist）和右腕（right_wrist）摄像头拍摄的RGB视频，分辨率为480x640。数据以parquet格式存储，视频以MP4格式存储。数据集用于机器人学习任务，适用于测试环境，许可证为Apache-2.0。
许可协议：Apache-2.0 任务类别：机器人学 标签：LeRobot 配置项： - 配置名称：default 数据文件路径：`data/*/*.parquet` 本数据集由[LeRobot](https://github.com/huggingface/lerobot)开发构建。 用户可通过以下链接可视化本数据集：<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=20-wasa/openarm-cube-pickup_test"><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> ## 数据集概述 - **主页**：[需补充更多信息] - **论文**：[需补充更多信息] - **许可协议**：Apache-2.0 ## 数据集结构 数据集的元数据存储于`meta/info.json`文件中，具体内容如下： json { "codebase_version": "v3.0", "fps": 30, "features": { "observation.state": { "dtype": "float32", "shape": [16], "names": ["openarm_left_joint1", "openarm_left_joint2", "openarm_left_joint3", "openarm_left_joint4", "openarm_left_joint5", "openarm_left_joint6", "openarm_left_joint7", "openarm_right_joint1", "openarm_right_joint2", "openarm_right_joint3", "openarm_right_joint4", "openarm_right_joint5", "openarm_right_joint6", "openarm_right_joint7", "openarm_left_finger_joint1", "openarm_right_finger_joint1"] }, "action": { "dtype": "float32", "shape": [16], "names": ["openarm_left_joint1", "openarm_left_joint2", "openarm_left_joint3", "openarm_left_joint4", "openarm_left_joint5", "openarm_left_joint6", "openarm_left_joint7", "openarm_right_joint1", "openarm_right_joint2", "openarm_right_joint3", "openarm_right_joint4", "openarm_right_joint5", "openarm_right_joint6", "openarm_right_joint7", "openarm_left_finger_joint1", "openarm_right_finger_joint1"] }, "observation.images.head": { "dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channel"], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.left_wrist": { "dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channel"], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.right_wrist": { "dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channel"], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "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 } }, "total_episodes": 1, "total_frames": 527, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "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", "robot_type": "bimanual_openarm", "splits": { "train": "0:1" } } ## 引用 **BibTeX格式引用**： bibtex [需补充更多信息]
